本文为印度国家技术研究院（作者：Pritpal Singh）的硕士论文，共70页。

在过去的数十年里，无人驾驶飞行器（UAV）已经成为一些探险协会的热门话题。无人机正在不同地区拓展应用，从军事活动到普通监视侦察。本文概述了一种特殊的无人机，称为四旋翼无人机。科学家们经常挑选四旋翼机进行探索，因为四旋翼机能够精确、高效地完成未来人类飞行员要完成的高风险任务。

本文包括四旋翼系统的动力学模型和模型自主控制系统。本文还对研制用于实时目标检测的四旋翼无人机进行了完整描述，最后，本文研究了四旋翼及其在多操作员框架下的潜在应用。目前，该无人驾驶飞行器已经被开发出来，可以用于搜索和监视。这个项目包括硬件和软件部分，硬件部分主要包括无人机设计，主要部件有KK2飞行控制板、无刷直流电机、电子速度控制器（ESC）、GPS（全球定位系统）接收机、视频收发装置、高清摄像机、RC（无线电控制）收发装置。软件部分由实时目标检测和跟踪算法组成，用MATLAB软件完成对人体的检测和跟踪。在实现稳定飞行后，安装在四旋翼无人机上的摄像机将向地面站接收器发送视频信号，然后，来自接收器的视频信号将传输到MATLAB软件进行进一步处理，或者也可以使用实时目标检测和跟踪算法跟踪人体目标。

In the previous decade, Unmanned Aerial Vehicles (UAVs) haveturned into a subject of enthusiasm for some exploration associations. UAVs arediscovering applications in different regions going from military applicationsto activity reconnaissance. This thesis is an overview of a particular sort ofUAV called quadrotor or quadcopter. Scientists are often picking quadrotors fortheir exploration because a quadrotor can precisely and productively performassignments that future of high hazard for a human pilot to perform.This thesis includes the dynamic models of a quadrotor andmodel-autonomous control systems. It also explains the complete description ofdeveloped quadcopter used for surveillance purpose with real-time objectdetection. In the present time, the focus has moved to outlining autonomousquadrotors. Ultimately, it examines the potential applications of quadrotorsand their part in multi-operators frameworks. The Unmanned aerial vehicle(Quadcopter) has been developed that could be used for search and surveillancepurpose. This project comprised of both hardware and software part. The hardwarepart comprised of the development of unmanned aerial vehicle (Quadcopter). Themain components that were used in this project are KK2 flight controller board,outrunner brushless DC motor, Electronic Speed Controllers (ESC), GPS (Global PositioningSystem) receiver, video transmitter and receiver, HD (High Definition) camera,RC (Radio Controlled) transmitter and receiver. Software part comprised ofrealtime object detection and tracking algorithm for detecting and tracking ofhuman beings that were done with the help of Matlab software. After achievingthe stable flight, the camera installed on the quadcopter would transmit avideo signal to the receiver placed on the ground station. Video signal fromthe receiver would then be transferred to Matlab software for furtherprocessing or for tracking human beings using real-time object detection andtracking algorithm.

1 引言

2 文献回顾

3 硬件与软件设计

4 研究方法

5 基于颜色和运动特征的实时目标检测与跟踪

6 结果与结论

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