Unmanned aerial vehicle ground multi-target tracking method and system

The invention discloses an unmanned aerial vehicle over-the-ground multi-target tracking method, and the method comprises the steps: carrying out the initialization processing of a video image shot in the inspection process of an unmanned aerial vehicle, and reading a first frame image in the video image; extracting optical flow points in the first frame of image, and meanwhile, endowing each optical flow point with different PIDs (Proportion Integration Differentiation); tracking the optical flow points, setting the same PID for the same optical flow points, deleting the optical flow points which are not tracked in the current frame, and adding new optical flow points according to judgment; using a target detection algorithm to detect all supported targets in the current video frame, including the pixel positions, sizes and categories of the targets; a sort algorithm architecture is adopted, and the motion of a target in a picture is divided into decoupling of aircraft motion and target motion and decoupling