Towards an UAV Visual Air-to-Ground Target Tracking in an Urban Environment

This paper develops an UAV navigation and guidance system for air-to-ground target tracking in an urban environment. The integrated optical-flow/inertial navigation filter is designed to simultaneously estimate the target andUAV states without using GPS. The guidance law which achieves target tracking and obstacle avoidance while enhancing the navigation accuracy is proposed. The entire system is to be implemented and tested in actual flights.