Research on UAV Target Tracking Algorithm for Simulation Scenarios

doi:10.16182/j.issn1004731x.joss.24-1159

Abstract

Abstract:

To address the need for automatic UAV tracking of moving targets in simulated experiments, this paper proposed a long-term automatic tracking method based on an improved channel and spatial reliability-aware tracker (CSRT) algorithm. The target edge features were detected using the Laplacian of guided filter (LOGF) through guided filtering and then fused with the histogram of oriented gradient (HOG) and color names (CN) features to enhance the algorithm's discriminative ability for the target. To evaluate the target state, the paper used average peak correlation energy and perceptual hash Hamming distance. When the target was occluded, the paper employed YOLOv8 for target localization and fed the localization results back into the tracking algorithm to continue tracking. Simulation results demonstrate that the algorithm can maintain long-term stable tracking of the target even when the target is occluded in the constructed simulation environment, providing a favorable simulation experimental environment for the research on UAV target tracking algorithms.

Key words: channel and spatial reliability-aware tracker(CSRT), edge feature, target positioning, YOLOv8, virtual target dataset

CLC Number:

TP391.9

Li Xinyi, Wang Zhenfei, Wu Han. Research on UAV Target Tracking Algorithm for Simulation Scenarios[J]. Journal of System Simulation, 2026, 38(2): 346-359.

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测试数据	总帧数	POC	FOC	IV	FM	ARV
Tank1	235	否	否	否	是	是
Tank2	275	否	否	否	是	否
Tank3	916	是	否	是	否	否
Militaryvehicle1	293	否	否	是	否	否
Militaryvehicle2	264	是	否	否	否	否
wakeboard1	421	是	否	是	是	是
boat1	901	否	否	否	否	是
car18	1 207	否	否	否	是	是
person12	1 621	是	是	是	否	是
CarScale	253	是	否	否	是	是

属性	评价指标	本文算法	Staple	MIL	KCF	SiamRPN	KPsiamfc
POC	距离精度	88.5	88.3	57.3	55.3	86.3	86.4
POC	跟踪成功率	79.4	77.2	51.7	51.1	72.8	75.6
FOC	距离精度	77.6	65.4	18.8	12.8	75.8	76.1
FOC	跟踪成功率	71.3	58.1	25.8	18.7	70.2	71.1
IV	距离精度	87.3	84.4	62.9	8.60	84.1	85.6
IV	跟踪成功率	81.8	81.3	61.1	51.0	80.0	77.6
FM	距离精度	73.0	52.8	5.40	6.50	82.9	74.6
FM	跟踪成功率	73.5	64.7	7.30	9.10	79.6	73.7
ARV	距离精度	79.7	72.9	38.3	6.70	87.8	78.8
ARV	跟踪成功率	71.8	70.3	35.8	5.70	77.9	72.2