  The flapping-wing aerial vehicle (FWAV) is a new type of flying robot that
mimics the flight mode of birds and insects. However, FWAVs have their special
characteristics of less load capacity and short endurance time, so that most
existing systems of ground target localization are not suitable for them. In
this paper, a vision-based target localization algorithm is proposed for FWAVs
based on a generic camera model. Since sensors exist measurement error and the
camera exists jitter and motion blur during flight, Gaussian noises are
introduced in the simulation experiment, and then a first-order low-pass filter
is used to stabilize the localization values. Moreover, in order to verify the
feasibility and accuracy of the target localization algorithm, we design a set
of simulation experiments where various noises are added. From the simulation
results, it is found that the target localization algorithm has a good
performance.
