近年來，國立成功大學的無人載具與微衛星實驗室(RMRL)，對於酬載系統方面的研究已有成果，例如移動目標物追蹤。
本研究目標主要利用即時影像處理之顏色轉化方法辨識目標物並達到追蹤效果。但是如果只運用以上影像辨識方法來執行目標物追蹤會有缺點，也就是說，當目標物在移動過程中受到遮蔽物遮蔽時，攝影機追蹤會因此失敗。所以本論文將探討載具上沒有運用任何姿態感測器下，目標物受到遮蔽而短暫消失時，加入卡爾曼濾波器演算法來預估移動目標物的位置，而攝影機能夠達到繼續追蹤效果。
演算法已做三項不同的測試應用於無人直昇機上，第一項為靜態目標物未受到遮蔽狀況下攝影機達到追蹤效果。第二項為移動目標物未受到遮蔽狀態下攝影機達到追蹤效果。第三項為目標物等速直線移動過程中受到短暫遮蔽。第一項與第二項測試已有相當好的實驗成果，第三部分也已有初步的驗證成果。

In recent years, the research of payload system in Remotely Piloted Vehicle and Micro-Satellite Laboratory (RMRL) of National Cheng Kung University (NCKU) has reached a significant milestone. One of the most recent achievements is the moving target tracking.
The main goal of this study is to use the color transformation of image processing method to recognize the target in order to achieve the goal of moving target tracking. However, the above method comes with disadvantages. In other words, the camera tracking will fail when the target is sheltered during the moving process. Therefore, this thesis studies the application of Kalman filter algorithm to predict the position of the target without extra sensor aid, such that the camera can keep tracking the target even if the target is covered.
The algorithm was tested on an Unmanned Helicopter. There were three different tests. First, the camera tracked an uncovered static target. Second, the target was moving and not being sheltered. Third, the target was moving in uniform velocity and straight line, and it was momentarily sheltered. The algorithm worked considerably well for the first two tests. Primary result of the third tests was also presented.

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