Infrared and visible image fusion is an important precondition of realizing target perception for unmanned aerial vehicles (UAVs), then UAV can perform various given missions. Information of texture and color in visible images are abundant, while target information in infrared images is more outstanding. The conventional fusion methods are mostly based on region segmentation; as a result, the fused image for target recognition could not be actually acquired. In this paper, a novel fusion method of airborne infrared and visible image based on target region segmentation and discrete wavelet transform (DWT) is proposed, which can gain more target information and preserve more background information. The fusion experiments are done on condition that the target is unmoving and observable both in visible and infrared images, targets are moving and observable both in visible and infrared images, and the target is observable only in an infrared image. Experimental results show that the proposed method can generate better fused image for airborne target perception.
Cooperative standoff tracking of moving targets is an important application of fixed-wing unmanned aerial vehicles (UAVs). To cope with the problem of long convergence time and unstable tracking in cooperative target tracking, traditional Lyapunov vector field guidance (LVFG) is modified. The guidance parameter c is discussed, and the gradient descent method is utilized to develop the optimal guidance parameter search algorithm. As for tracking moving targets, an interacting multiple model-based unscented Kalman filter (IMM-UKF) estimator is built for predicting the target state, and the result is used for correcting the guidance law. Meanwhile, a speed-based controller is developed for faster convergence to the desired intervehicle phase, and the stability of the controller is proved using the Lyapunov stability theory. Numerical simulation results indicate the proposed guidance converges faster to the standoff circle without intersecting the orbit. The state estimator reduces the estimate error and the intervehicle phase converges faster to the desired phase than the traditional control method. Furthermore, extensive hardware-in-the-loop simulations are carried out to verify the feasibility of the algorithm.
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