基于OpenMV的四旋翼无人机目标跟踪系统设计与实现

基于四旋翼无人机小巧便捷可控的特点，设计并实现了一种可识别并自动跟踪物体的四旋翼无人机系统，该系统采用STM32F407为主控芯片，综合光流模块、数传模块、OpenMV4模块和电机、螺旋桨等外围设备，采用姿态估算、色块跟踪解耦合、色块识别、滤波、坐标系转换、PID调节、前馈调节等算法实现四旋翼的识别与自动跟踪，使其可以在平稳飞行的同时，按照程序指令搜寻目标，并触发跟踪状态，完成自动跟踪。该四旋翼无人机系统灵巧便携，操作简单，通用性强，应用前景广阔。

Design and implementation of target tracking system for quadrotor Based on openmv

Based on the small,convenient and controllable characteristics of quadrotor UAV,a quadrotor UAV system is designed and implemented,which can recognize and track objects automatically.The system uses stm32f407 as the main control chip,integrates optical flow module,data transmission module,openmv4 module,motor,screw propeller and other peripheral devices,and adopts attitude estimation,color block tracking decoupling,color block recognition,filtering,color tracking decoupling,color block recognition,color tracking and other methods Coordinate system conversion,PID adjustment,feed-forward adjustment and other algorithms can realize the identification and automatic tracking of quadrotor,so that it can search for the target according to the program instructions while flying smoothly,and trigger the tracking state.The four rotor UAV system is smart and portable,easy to operate,versatile,and has broad application prospects.