UAV Autonomous Tracking System (general overview) _unmanned

The hardware structure of the system:

Camera as input to the image
Airborne computer TX1 Execution detection algorithm
TK1 execution tracking algorithm for airborne computer
Great Xinjiang M100 and flight control as carrier and execution unit
Mobile phone as an auxiliary monitoring background, can view the status and image, can also be issued instructions. Software structure

The entire system (Airborne computer TK1/TX1) runs under the Ubuntu Ros System,
Through the node between the issue and subscription, to achieve data transmission.
The whole system is divided into multiple nodes,

Camera_node collects camera data and publishes it as an image topic in Ros;

Detection node: Subscribe to the topic of the image, through the detection algorithm (deployed neural network) to release the coordinates of the detection target information;

Tracking node: Subscribe to the coordinates of the topic, through the tracking algorithm, find the target location, through the topic released

Flight Control node: Get the image coordinates, coordinate conversion, calculate the distance between people and aircraft, give flight control to send flying instructions.

This part is just the entire structure of the system, followed by a detailed analysis of the various parts.