无人机软式自主空中加油视觉导航方法

针对无人机软式自主空中加油问题,提出了用于无人机软式自主空中加油的视觉导航方法.在加油锥套外环平面上均匀布置8个近红外LED,在受油机上布置CCD相机及带通滤镜构成视觉系统,利用该系统对锥套进行近红外成像,对所获取的近红外图像进行特征点提取并利用迭代算法估计锥套与受油机之间的位姿参数.在不同距离下对该视觉导航方法进行了仿真验证.结果表明,所研究的无人机软式自主空中加油视觉导航方法精度较高,抗干扰能力较强,可以有效地用于无人机软式自主空中加油.

Vision-Based Navigation Method for UAV Autonomous Probe and Drogue Aerial Refueling

To solve the problem of unmanned aerial vehicle (UAV) autonomous aerial refueling,vision-based navigation method is proposed in the probe and drogue docking process.Eight near-infrared LED lights are arranged uniformly in the outer ring of the drogue,and a CCD camera with band-pass filter is mounted on the receiver airplane to constitute a vision system.After the near-infrared image of drogue is acquired by the vision system,feature points are detected and iterative algorithm is used to estimate the position and attitude between drogue and receiver airplane.Simulations are conducted for several distance with vision-based navigation method,the results indicate that the vision-based UAV aerial refueling navigation method has high precision and strong anti-interference ability,which can be effectively used in the mission of UAV autonomous aerial refueling.