This paper develops a three-dimensional guidance and control algorithm to ensure that a manoeuverable target is preserved by a quadrotor in a long-term tracking scenario. The proposed guidance approach determines the desired altitude of the quadrotor to adjust the field of view (FOV) to the union of two desired trusted and critical regions. The dimensions of the desired trusted region depend on the controller performance that is evaluated by the distance of the target from the center of the FOV. The critical region is a predefined margin around the trusted region that is defined by the operator based on the upper bounds of the quadrotor and target localisation errors. It also depends on the duration and magnitude of the temporal increase in the target velocity compared to the quadrotor velocity. A sufficient condition is provided for the minimum desired altitude of the quadrotor to ensure that the target is maintained in the FOV. Furthermore, a model predictive control (MPC) is employed to preserve the target at the center of the aerial image and the desired altitude determined by the guidance law. Also, the integrals of the position errors are used to achieve null steady-state errors in the presence of wind disturbances. The simulation results show the effectiveness of the proposed approach in preserving the manoeuverable target in the FOV in the presence of the wind, the uncertainty of the target and quadrotor localisation, accelerations estimation errors, and terrain altitude variation.

中文翻译：

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四旋翼地面运动目标跟踪的三维制导与控制

本文开发了一种三维制导和控制算法，以确保四旋翼在长期跟踪场景中保持机动目标。建议的引导方法确定四旋翼的所需高度，以将视野 (FOV) 调整为两个所需的可信区域和关键区域的联合。所需可信区域的尺寸取决于控制器性能，控制器性能由目标到 FOV 中心的距离进行评估。临界区域是由操作员根据四旋翼和目标定位误差的上限定义的可信区域周围的预定义边距。与四旋翼速度相比，它还取决于目标速度随时间增加的持续时间和幅度。为四旋翼的最小期望高度提供了充分条件，以确保目标保持在 FOV 中。此外，采用模型预测控制 (MPC) 将目标保留在航拍图像的中心和由制导法则确定的所需高度。此外，位置误差的积分用于在存在风扰时实现零稳态误差。仿真结果表明，在有风、目标和四旋翼定位的不确定性、加速度估计误差和地形高度变化的情况下，所提出的方法在保持 FOV 中的机动目标方面的有效性。模型预测控制 (MPC) 用于将目标保留在航拍图像的中心和由制导法则确定的所需高度。此外，位置误差的积分用于在存在风扰时实现零稳态误差。仿真结果表明，在有风、目标和四旋翼定位的不确定性、加速度估计误差和地形高度变化的情况下，所提出的方法在保持 FOV 中的机动目标方面的有效性。模型预测控制 (MPC) 用于将目标保留在航拍图像的中心和由制导法则确定的所需高度。此外，位置误差的积分用于在存在风扰时实现零稳态误差。仿真结果表明，在有风、目标和四旋翼定位的不确定性、加速度估计误差和地形高度变化的情况下，所提出的方法在保持 FOV 中的机动目标方面的有效性。