北京航空航天大学学报 ›› 2013, Vol. 39 ›› Issue (11): 1491-1496.

• 论文 • 上一篇    下一篇

基于计算机视觉的UAV自主空中加油半物理仿真

段海滨1, 张奇夫1, 范彦铭2, 李昊1   

  1. 1. 北京航空航天大学 飞行器控制一体化技术重点实验室, 北京 100191;
    2. 中国航空工业集团公司 沈阳飞机设计研究所, 沈阳 110035
  • 收稿日期:2012-12-23 出版日期:2013-11-30 发布日期:2013-12-04
  • 基金资助:
    国家自然科学基金资助项目(61333004,61273054,60975072,60604009);航空科学基金资助项目(20115151019,2008ZC01006,20135851042);教育部新世纪优秀人才支持计划资助项目(NCET-10-0021)

Hardware-in-loop simulation platform for UAV autonomous aerial refueling based on computer vision

Duan Haibin1, Zhang Qifu1, Fan Yanming2, Li Hao1   

  1. 1. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. Shenyang Aircraft Design and Research Institute, AVIC, Shenyang 110035, China
  • Received:2012-12-23 Online:2013-11-30 Published:2013-12-04

摘要: 设计并实现了一种基于计算机视觉的无人机(UAV,Unmanned Aerial Vehicle)自主空中加油仿真平台,采用点匹配与位姿估计算法对软管式加油锥发光二极管(LED,Light Emitting Diodes)标志进行识别.对大气扰动和尾涡流进行了建模,建立了加油锥模型,并设计了加油锥运动状态预估算法.在此基础上,设计了基于线性二次型调节器(LQR,Linear Quadratic Regulator)的飞行控制律.基于上述技术,在实验室环境下设计开发了基于单目机载摄像机的无人机自主空中加油半物理仿真平台.半物理试验结果表明:所设计的位姿匹配算法和飞行控制律能够满足复杂环境下无人机自主空中加油的性能要求,具有较强的实时性、准确性和鲁棒性.

Abstract: A hardware-in-loop simulation platform of unmanned aerial vehicle(UAV) autonomous aerial refueling based on computer vision was developed. Point feature matching and LHM pose estimation algorithms were adopted to the recognition of light emitting diodes(LEDs) on the drogue. The models of atmospheric disturbances and wake vortex had been built, and the drogue model was also presented. Subsequently, a linear quadratic regulator (LQR) control law for UAV was designed. The hardware-in-loop simulation platform with airborne monocular camera for UAV autonomous aerial refueling had been developed in lab environment. Series of hardware-in-loop experimental results demonstrate the feasibility and effectiveness of our presented approaches in this simulation platform.

中图分类号: 


版权所有 © 《北京航空航天大学学报》编辑部
通讯地址:北京市海淀区学院路37号 北京航空航天大学学报编辑部 邮编:100191 E-mail:jbuaa@buaa.edu.cn
本系统由北京玛格泰克科技发展有限公司设计开发