Research on Cam-Kalm Automatic Tracking Technology of Low, Slow and Small Target Based on Gm-APD LiDAR

With the wide application of UAVs in modern intelligent warfare and civil fields, the demand for C-UAS technology is increasingly urgent. Traditional detection methods have many limitations in dealing with "low, slow, and small" targets. This paper presents a pure laser automatic tracking system based on Geiger mode avalanche photodiode (Gm-APD). Combining the target motion state prediction of the Kalman filter and the adaptive target tracking of Camshift, a Cam-Kalm algorithm is proposed to achieve high-precision and stable tracking of moving targets. The system also introduces two-dimensional Gaussian fitting and edge detection algorithms to automatically determine the target's center position and the tracking rectangular box, improving the automation of target tracking. The experimental results show that the system designed in this paper can effectively track UAVs in a 70 m laboratory environment and 3.07 km to 3.32 km long-distance scene and has low center positioning error and MSE. This technology provides a new solution for real-time tracking and ranging of long-distance UAVs, shows the potential of pure laser in long-distance "low-slow-small" target tracking, and provides essential technical support for C-UAS technology.