北京航空航天大学学报 ›› 2011, Vol. 37 ›› Issue (2): 206-209.

• 论文 • 上一篇    下一篇

基于双目视觉的自动空中加油近距导航方法

解洪文, 王宏伦   

  1. 北京航空航天大学 无人驾驶飞行器设计研究所, 北京 100191
  • 收稿日期:2009-12-03 出版日期:2011-02-28 发布日期:2011-03-05
  • 作者简介:解洪文(1986-),男,山东泰安人,硕士生,akadia_001@126.com.
  • 基金资助:

    国防预研基金资助项目

Binocular vision-based short-range navigation method for autonomous aerial refueling

Xie Hongwen, Wang Honglun   

  1. Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2009-12-03 Online:2011-02-28 Published:2011-03-05

摘要: 为解决插头锥管式自动空中加油中的近距精确导航问题,提出了一种基于双目视觉的近距导航方法.该方法使用受油机上的两个摄像机拍摄加油锥管端面上光学标记的图像,采用轮廓跟踪法检测图像中的光斑区域,并将其灰度重心作为光学标记的像点,根据对极几何约束完成像点的匹配,利用空间圆形拟合法计算加油锥管的位置和姿态.建立了空中加油的三维虚拟场景对该导航方法进行仿真验证,仿真结果表明,该方法在近距离加油对接时具有很高的位置和姿态测量精度,可以满足自动空中加油的需要.

Abstract: To solve the short-range precise navigation problem in the probe-and-drogue autonomous aerial refueling, a binocular vision-based short-range navigation method was presented. This method used two cameras installed on the receiver to capture the images of the optical markers mounted on the end surface of the drogue, then detected the light spot regions in the images by contour tracking algorithm and calculated their gray scale centers as the image points of the optical markers. These image points were matched according to epipolar geometry constraints, and the position and attitude of the drogue were calculated using space circle fitting arithmetic. A three-dimensional virtual scene of probe-and-drogue aerial refueling was established to simulate this navigation method. Simulation results show that this method has a high position and attitude measurement accuracy during the short-range docking maneuver, fulfilling the demand of autonomous aerial refueling.

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