Unmanned Aerial Vehicle/Unmanned Ground Vehicle heterogeneous collaborative system can complete complex tasks. In order to monitor and control the two agents simultaneously, a comprehensive ground station is designed. First, the preliminary work is introduced. Then, the architecture of the ground station of the system is proposed. In data communication module, since the amount of data from the system is large, the data of structure and multi-threaded processing are designed in detail. In data display module, the ground station provides various ways for displaying data. In image display module, in order to balance the accuracy and real-time performance of the system, an Efficient Convolution Operators tracking algorithm is improved for tracking moving target. In digital map module, a three-dimensional path planning method based on improved Ant Colony is proposed. The experiment results show that the ground station works well in real-time performance and accuracy.

无人机/无人地面车辆异构协同系统可以完成复杂的任务。为了同时监测和控制这两个代理，设计了一个综合地面站。首先介绍前期工作。然后，提出了系统地面站的架构。在数据通信模块中，由于系统数据量较大，对数据结构和多线程处理进行了详细的设计。在数据显示模块中，地面站提供了多种数据显示方式。在图像显示模块中，为了平衡系统的精度和实时性，改进了Efficient Convolution Operators跟踪算法来跟踪运动目标。在数字地图模块中，提出了一种基于改进蚁群的三维路径规划方法。实验结果表明，该地面站在实时性和准确性方面工作良好。