基于视觉与X波段雷达融合的系留飞艇无人机动态跟踪系统

作者	单位
杨玉龙	北京航空航天大学电子信息工程学院, 北京 100191
王一博*	北京航空航天大学电子信息工程学院, 北京 100191
傅先进	95821部队, 北京 100000
邢啸宇	北京航空航天大学电子信息工程学院, 北京 100191
许官正	北京航空航天大学电子信息工程学院, 北京 100191
侍泽昆	北京航空航天大学电子信息工程学院, 北京 100191

通讯作者:王一博* 北京航空航天大学电子信息工程学院, 北京 100191

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中文摘要:

随着无人机技术的快速发展,其在目标检测与跟踪任务中的应用日益广泛,得益于其灵活的视角和高机动性,为复杂环境下的感知提供了新机遇。基于系留飞艇平台搭载雷达对无人机目标进行跟踪探测,能够显著扩展监测范围。然而,系留飞艇平台在浮空驻留时存在姿态角周期性变换及随风向航向持续偏移的问题,为艇载设备的跟踪与对准带来挑战。为应对这一挑战,提出了一种相机辅助的X波段雷达跟踪与监视系统,结合云台动态控制技术,实现对空中无人机的精准检测与持续跟踪。系统通过每2帧抽取的视频流驱动YOLOv10,平均检测准确率达96.8%。通过扩展卡尔曼滤波融合X波段阵列雷达数据与视觉数据,定位误差小于5%。自适应PID控制云台确保目标始终居中于视野。背景抵消技术有效抑制地面杂波和多路径效应,信噪比大于20 dB。研究的创新点在于,提出了一套低成本解决方案,该方案专门面向并满足系留飞艇艇载设备的目标跟踪需求。同时,研究还构建了一套地面测试方法,为系留飞艇搭载测试以及复杂外场环境下浮空器的搭载测试试验提供了高效且鲁棒的解决方案,可有效应用于无人机检测与跟踪领域。

英文摘要:

With the rapid development of UAV technology,its application in target detection and tracking tasks has become increasingly widespread.Benefiting from its flexible perspective and high maneuverability,UAVs provide new opportunities for perception in complex environments.Radar mounted on a tethered aerostat platform for tracking and detecting UAV targets can significantly extend the monitoring range.However,the tethered aerostat platform experiences periodic attitude angle variations and continuous heading drift with wind direction during hovering,posing challenges to the tracking and alignment of onboard equipment.To address these challenges,this study proposes a camera-assisted X-band radar tracking and surveillance system,combined with dynamic gimbal control technology,to achieve precise detection and continuous tracking of aerial UAVs.The system drives YOLOv10 using video streams sampled every 2 frames,achieving an average detection accuracy of 96.8%.By fusing X-band array radar data with visual data via extended Kalman filtering,the positioning error is less than 5%.An adaptive PID controller ensures that the target remains centered in the field of view.Background cancellation technology effectively suppresses ground clutter and multipath effects,with a signal-to-noise ratio exceeding 20 dB.The innovation of this study lies in proposing a low-cost solution tailored to meet the target tracking requirements of tethered aerostat onboard equipment.Additionally,a ground testing method is developed,providing an efficient and robust solution for tethered aerostat payload testing and aerostat deployment tests in complex field environments,which can be effectively applied to UAV detection and tracking.

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