Research on terminal guidance of SUAV based on strapdown image module

A terminal guidance control method based on strapdown image is proposed and implemented on a SUAV (Small Unmanned Aerial Vehicle) equipped with a strapdown image processing module and a redeveloped commercial autopilot. When compared to image stabilization platform, strapdown image module which includes a highly integrated image processing board and a micro electro-optic camera is significantly smaller, lighter and less costly. We measure the vertical line-of-sight angle 0c and the horizontal line-of-sight angle θ c as angles of deviation and actually do an angle tracking. Besides, Median-Flow tracking algorithm which is good at tracking a stationary target with obvious features and a designed terminal guidance controller on the basis of STT are adopted. This method is tested and verified repeatedly by using a commercial foam aircraft on spot landing and SUAV recycling. The performance is beyond expectation with a relatively high precision.