Tailstock type unmanned aerial vehicle high-dynamic target tracking method based on multi-mode flight control

The invention relates to a high-dynamic target tracking method of a tailstock type unmanned aerial vehicle based on multi-mode flight control, and belongs to the technical field of unmanned aerial vehicle control, and the high-dynamic target tracking method of the tailstock type unmanned aerial vehicle is based on multi-mode flight and visual follow-up cooperative tracking. By controlling the two flight modes of the tailstock type unmanned aerial vehicle, continuous locking tracking of the highly dynamic change target is realized, the robustness and stability of target tracking are ensured, the possibility of target loss is reduced, and the accuracy of target tracking is improved. 本发明涉及一种多模态飞行控制的尾座式无人机高动态目标追踪方法，属于无人飞行器控制技术领域，本发明的尾座式无人机高动态目标追踪方法基于多模态飞行与视觉随动协同追踪，通过控制尾座式无人机的两种飞行模态来实现对高动态变化目标的持续锁定追踪，保证了目标追踪的鲁棒性和稳定性，降低目标丢失的可能性，提高了目标追踪的准确性。