Moving Target Velocity Measurement Method Based on Multi-view Observation Optimization of UAV Image

doi:10.16182/j.issn1004731x.joss.24-0920

Abstract

Abstract:

Measuring the position and velocity of moving targets is an important requirement for drone video analysis. In this paper, a moving target localization and velocity estimation algorithm based on least square optimization of UAV multi-view observation images is proposed: the video and corresponding pose parameters obtained by the airborne optoelectronic system are used to establish a line-of-sight model at multiple observation times, it is unified to the WGS-84 coordinate system by coordinate transformation, the position and velocity of the moving target are estimated based on the least squares algorithm. This algorithm does not require laser ranging information between the UAV and the target, nor does it require terrain elevation information, making it a highly covert passive positioning and velocity measurement algorithm. In order to investigate the accuracy and application conditions of this algorithm, this article simulates three scenarios of UAV speed measurement in the experimental part, considers various error sources in the actual measurement process, and conducts simulation experiments using Monte Carlo simulation method.The results sh ow that the algorithm can quickly and accurately estimate the position and velocity of the target, with a positioning accuracy of 1.5 m and a velocity measurement accuracy of 0.2 m/s in typical application scenarios, which meets the accuracy and reliability requirements of intelligence analysis.

Key words: reconnaissance drones, passive localization, velocity measurement, multi-vision observation, Monte Carlo method

CLC Number:

TP391.9

Wu Yuxin, Zhang Zhilong, Liu Aoxu, Zou Jiangwei, LI Chuwei. Moving Target Velocity Measurement Method Based on Multi-view Observation Optimization of UAV Image[J]. Journal of System Simulation, 2025, 37(1): 40-53.

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Table 1

Simulation parameter settings

参数	误差标准差
无人机x向坐标 $x G 2$ /m	5
无人机y向坐标 $y G 2$ /m	5
无人机z向坐标 $z G 2$ /m	5
无人机航向角 $α$ /(°)	0.2
无人机俯仰角 $β$ /(°)	0.1
无人机横滚角 $γ$ /(°)	0.1
相机方位角 $α F$ /(°)	0.1
相机俯仰角 $β F$ /(°)	0.1

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初始位置	纬度/(°)	经度/(°)	高度/m
初始位置	39.836 590	97.291 320	2 223.000 000
运动速度/(m/s)	东向	北向	天向
运动速度/(m/s)	20	20	0

指标	东向	北向	天向
测量值	20.231 3	20.159 9	0.155 2
误差	0.231 3	0.159 9	0.155 2

指标	东向	北向	天向
误差均值	0.298 7	0.024 2	-0.019 7
误差标准差	0.427 7	0.482 9	0.205 9

指标	纬度	经度	高度
测量值	39.836 564°	97.291 327°	2 221.675 734 m
误差	2.203 8 m	-0.784 0 m	1.324 3 m

指标	X	Y	Z
误差均值	-0.827 9	0.760 2	0.132 1
误差标准差	3.315 5	1.225 8	1.523 2