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基于计算机视觉的UAV自主空中加油半物理仿真

段海滨 张奇夫 范彦铭 李昊

段海滨, 张奇夫, 范彦铭, 等 . 基于计算机视觉的UAV自主空中加油半物理仿真[J]. 北京航空航天大学学报, 2013, 39(11): 1491-1496.
引用本文: 段海滨, 张奇夫, 范彦铭, 等 . 基于计算机视觉的UAV自主空中加油半物理仿真[J]. 北京航空航天大学学报, 2013, 39(11): 1491-1496.
Duan Haibin, Zhang Qifu, Fan Yanming, et al. Hardware-in-loop simulation platform for UAV autonomous aerial refueling based on computer vision[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(11): 1491-1496. (in Chinese)
Citation: Duan Haibin, Zhang Qifu, Fan Yanming, et al. Hardware-in-loop simulation platform for UAV autonomous aerial refueling based on computer vision[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(11): 1491-1496. (in Chinese)

基于计算机视觉的UAV自主空中加油半物理仿真

基金项目: 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)
详细信息
  • 中图分类号: TP273

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

  • 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.

     

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出版历程
  • 收稿日期:  2012-12-23
  • 刊出日期:  2013-11-30

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