Relative pose decoupled iterative determination algorithm for UAV aerial refueling

被引：0
作者：
Wang, Long [1 ]
Dong, Xin-Min [1 ]
Jia, Hai-Yan [2 ]
机构：
[1] Engineering College, Air Force Engineering University
[2] Unit 93942, People's Liberation Army, Xianyang 712000, Shaanxi Province
来源：
Yingyong Kexue Xuebao/Journal of Applied Sciences | 2012年 / 30卷 / 04期
关键词：
Aerial refueling; Decoupled iterative; Line of sight; Relative pose;
D O I：
10.3969/j.issn.0255-8297.2012.04.016
中图分类号：
学科分类号：
摘要：
Considering the coupled and nonlinear relationship between the relative pose in the line of sight equations, an iterative decoupling algorithm is proposed to determine relative pose. Application of the method to aerial refueling is discussed. Based on the pseudo-range of satellite navigation, an observation matrix is constructed by using line of sight vectors. The relative position are updated by the least square method, and then the relative attitude is updated. By introducing an iterative error, convergence of the iterative algorithm is proved. The trace of error variance matrix is used to analyze the effect of feature geometry configuration on the precision. Simulation results show that the proposed algorithm can improve performance by 23% and 40% in speed and robustness than Gaussian least square differential correction (GLSDC), respectively. Steady state errors of relative pose are 0.1 m and 0.2° lower respectively. The precisio can satisfy the relative pose requirements of UAV aerial refueling during docking.
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收藏
页码：427 / 432
页数：5
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