High-Precision Localization Tracking and Motion State Estimation of Ground-Based Moving Target Utilizing Unmanned Aerial Vehicle High-Altitude Reconnaissance

Abstract

This paper focuses on the problem of ground-motion target localization tracking and motion state estimation for high-altitude reconnaissance using fixed-wing UAVs. Our goal is to accurately locate and track ground-moving targets and estimate their motion using visible light images, laser measurements of distance, and UAV position and attitude information. Firstly, this paper uses the target detection model of YOLOv8 to obtain the target pixel positions, combined with the measurement data, to establish the geolocalization model of the ground-motion target. Secondly, a motion state estimation algorithm with hierarchical filtering is proposed, and this algorithm performs motion state estimation for optoelectronic loads and ground-motion targets separately. Using the laser range sensor measurements as constraints, the optoelectronic load angle state quantities are involved together in estimating the ground target motion state, resulting in improved accuracy of ground-motion target localization tracking and motion state estimation. The experimental data show that the UAV ground-motion target localization tracking and motion estimation algorithm using hierarchical filtering reduces the localization tracking error by at least 7.5 m and the motion state estimation error by at least 0.8 m/s compared to other algorithms.

Keywords

• dynamic target tracking
• unmanned aerial vehicle (UAV)
• high-altitude reconnaissance
• motion state estimation