Autonomous Aerial Refueling for UAVs Based on GPS/MV

被引：1

作者：

Wang Long ^{[1
]}

Dong Xin-min ^{[1
]}

Guo Jun ^{[1
]}

Jia Hai-yan ^{[2
]}

机构：

[1] Air Force Engn Univ, Dept Aeronaut Automat Control Engn, Xian, Peoples R China

[2] PLA, Unit 93942, Xian, Peoples R China

来源：

MATERIALS SCIENCE AND INFORMATION TECHNOLOGY, PTS 1-8 | 2012年 / 433-440卷

关键词：

autonomous aerial refueling; machine vision; federal filter; sensor fusion; LQR;

D O I：

10.4028/www.scientific.net/AMR.433-440.4087

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

According to the UAV autonomous aerial refueling based on GPS/Machine Vision integration, the restrictions on the sensors during docking are analyzed. An adaptive Federal Kalman Filter (AFKF) is proposed, which is based on extended Kalman filter arithmetic, after modeling the sensors measurement models. Reference trajectory of docking is planed using cubic interpolators and docking control laws are designed with LQR. Simulation results show that the controller ensure the stabilized tracking and docking, and the AFKF outputs is continuous and stabilized during sensor failure comparing to centralize Kalman filter.

引用

页码：4087 / +

页数：3

共 10 条

[1] Campa G., 2004, AIAA GUID NAV CONTR, P2004
[2] Denison D.D., 2003, NONLINEAR ESTIMATION
[3] [董新民 DONG Xinmin], 2008, [空军工程大学学报. 自然科学版, Journal of Air Force Engineering University. Natural Science Edition], V9, P1
[4] Hinchman Jacob, 2007, AUT AER REF 2007 ARS, P314
[5] Kai Qiu, 2005, J SENSOR TECHNOLOGY, V18, P676
[6] Fast and globally convergent pose estimation from video images
Lu, CP
Hager, GD
Mjolsness, E
[J]. IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 2000, 22 (06) : 610 - 622
[7] Machine Vision/GPS Integration Using EKF for the UAV Aerial Refueling Problem
Mammarella, Marco
Campa, Giampiero
Napolitano, Marcello R.
Fravolini, Mario L.
Gu, Yu
Perhinschi, Mario G.
[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS, 2008, 38 (06): : 791 - 801
[8] Nalepka JP, 2005, AIAA MOD SIM TECHN C, P2005
[9] Pollini L., 2005, AIAA MOD SIM TECHN C
[10] Yue-jian XU, 2007, J FLIGHT DYNAMICS, V25, P73

← 1 →