Multi-scale cooperative target design and online detection and recognition method and system

The invention belongs to the technical field of unmanned aerial vehicle target design and recognition, and discloses a multi-scale cooperative target design and online detection and recognition methodand system. The method comprises the steps: setting m * m cells in the middle of each scale target as a blank, and nesting the next scale target to form a multi-scale cooperative target; after receiving the landing instruction, the unmanned aerial vehicle searches a landing area target by controlling an airborne pan-tilt camera; carrying out local adaptive thresholding processing on the YUV format image shot by the camera and then carrying out quadrilateral detection; when the target is correctly recognized, switching the pan-tilt to a tracking mode; predicting the target position of the nextframe, and carrying out target detection in the neighborhood range of the predicted position; resolving the pose of the unmanned aerial vehicle according to the detected target position; and switching to a proper target for d