Analysis of dynamical properties of object tracking system elements

The goal of this paper was to determine necessary dynamical conditions for the object tracking task. Developing these conditions required examining dynamical relationships between the UAV, camera head, disturbances and tracked object. This analysis was conducted in order to assess whether a given UAV-camera head set was suitable for a given object tracking task. The study assumed that the UAV was equipped with a flight trajectory control system. We discussed the methods of the dynamical properties description and finding a range of application for a particular set “UAV-camera head”. For each dynamical element of the examined system, we proposed a method of computing the parameters of the simulation model which corresponded to the behaviour of the real elements. In order to describe the range of the applications for the UAV-camera head set, we defined the space Ω – all combinations of the parameters which characterized the dynamics of the disturbance and object. Moreover, this study developed the method of selecting the subspace Ωs which described acceptable parameters of the object’s and disturbance’s dynamics. This paper presented the example of proper object tracking in the case of meeting the dynamical conditions and the example of losing the object in the opposite case.