Dynamic target following method and system adopting adaptive Kalman filter

The invention belongs to the technical field of motion control and navigation, and particularly relates to a dynamic target following method, system and device adopting an adaptive Kalman filter. The method comprises the following steps: S1, constructing a traditional Kalman filter; s2, setting a parameter adjustment threshold value of the adaptive Kalman filter, wherein the parameter adjustment threshold value comprises a signal quality index and a motion state index; and S3, designing an adaptive Kalman filter which supports adaptive adjustment of a covariance matrix Qk of prediction noise and a covariance matrix Nk of measurement noise in combination with a parameter adjustment threshold. And S4, collecting the relative angle and distance of the tracking target at the current moment in real time. And S5, correcting a detection result by using an adaptive Kalman filter. And S6, adjusting the speed and the rotation angle of the following platform in combination with the correction result so as to realize rea