Target Acquisition, Localization, and Surveillance Using a Fixed-Wing Mini-UAV and Gimbaled Camera

Target acquisition and continuous surveillance using fixed-wing UAVs is a difficult task due to the many degrees of freedom inherent in aircraft and gimbaled cameras. Mini-UAVs further complicate the problem by introducing severe restrictions on the size and weight of electro-optical sensor assemblies. We present a field-tested mini-UAV gimbal mechanism and flightpath generation algorithm as well as a human-UAV interaction scheme in which the operator manually flies the UAV to produce an estimate of the target position, then allows the aircraft to fly itself and control the gimbal while the operator re fines or moves the target position as required.