Docking navigation method for UAV autonomous aerial refueling

被引：15

作者：

Luo, Delin ^{[1
]}

Shao, Jiang ^{[1
]}

Xu, Yang ^{[1
]}

Zhang, Jinpeng ^{[2
,3
]}

机构：

[1] Xiamen Univ, Sch Aerosp Engn, Xiamen 361005, Peoples R China

[2] China Airborne Missile Acad, Luoyang 471009, Peoples R China

[3] Aviat Key Lab Sci Technol Airborne Guided Weapon, Luoyang 471009, Peoples R China

来源：

SCIENCE CHINA-INFORMATION SCIENCES | 2019年 / 62卷 / 01期

基金：

中国国家自然科学基金;

关键词：

autonomous aerial refueling; AAR; position and pose estimation; improved Haar wavelet transform; IHWT; binocular vision system; BVS; BVS simulation platform; POSE ESTIMATION; ALGORITHM; SENSOR;

D O I：

10.1007/s11432-018-9578-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a docking navigation method for autonomous aerial refueling (AAR) of unmanned aerial vehicles (UAVs) based on a binocular vision system (BVS) is proposed. A BVS simulation platform is built for simulation research purposes. First, unnecessary scene information in the image is filtered through green light-emitting diodes (LEDs) and filters. Then the image is processed via graying, binarization, and median filtering to highlight the connected area of the LED in the image. Subsequently, the center of mass of the connected area is selected as the feature point (FP), and the FPs are described using an improved Haar wavelet transform. The multidimensional description vector of FP is obtained and matched. Finally, the position and pose of the refueling cone sleeve are estimated. Simulation results show the effectiveness of the presented AAR navigation method.

引用

页数：16

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