On Vision-Based Target Tracking and Range Estimation for Small UAVs

*† ‡ § Development of a vision-based target tracking algorithm for an unmanned air vehicle is described. The algorithm provides an autonomous target tracking capability, while simultaneously estimating GPS coordinates of the target. A low cost, primarily COTS system is utilized, with a modified RC aircraft airframe, gas engine and servos. Tracking is enabled using a low-cost, miniature pan-tilt gimbal, driven by COTS servos and electronics. The control algorithm provides rapid and sustained target acquisition and tracking capability. A target position estimator was designed and shown to provide reasonable targeting accuracy. Impact of target loss events on the control and estimation algorithms is analyzed in detail.