Vision-Based Tracking of a Ground-Moving Target with UAV

  • Sanghyuk ParkEmail author
  • Dongwon Jung
Original Paper


This paper presents a vision-based estimation and guidance method to enable a UAV to fly a circular orbit around a moving target. The target motion is estimated using a Kalman filter design combining an onboard GPS and inertial sensors with a target-pointing vector obtained from a vision system. The aircraft is guided to orbit the moving target by a simple guidance law that deploys the relative side-bearing angle and the relative velocity with respect to the target. The proposed method is demonstrated using simulations and flight tests.


Side-bearing guidance Vision-based estimation Moving target Kalman filter Flight test 



This research was supported by Basic Science Research Program through the National Research Foundation of Korea (KRF) funded by the Ministry of Education (NRF-2015R1D1A1A01060574). The author also thanks Ryu, Hanseok and Kim, Yong-Rae for their contributions to the flight tests.


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Copyright information

© The Korean Society for Aeronautical & Space Sciences 2019

Authors and Affiliations

  1. 1.School of Aerospace and Mechanical EngineeringKorea Aerospace UniversityGoyang-siSouth Korea
  2. 2.School of Electronics and Information EngineeringKorea Aerospace UniversityGoyang-siSouth Korea

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