期刊文献+

机器视觉辅助的无人机空中加油相对导航 被引量:5

Machine Vision-Aided Relative Navigation for UAV Aerial Refueling
下载PDF
导出
摘要 为准确获取无人机空中加油对接阶段的相对位姿信息,提出了一种机器视觉辅助的INS/GPS/MV组合导航方案,研究了机器视觉图像的特征点提取与匹配算法.引入相对惯导误差,建立了全局滤波器的增广状态方程,并根据杆臂矢量推导了GPS和机器视觉量测方程.设计了基于联邦滤波器结构的全局多速率扩展卡尔曼滤波算法,以融合多速率传感器信息,并与标准EKF算法进行对比.仿真结果表明,所提出的算法能有效融合惯导、GPS和机器视觉的测量信息,使导航参数的精度和输出带宽均满足导航系统的设计要求,有利于改善无人机的飞行品质,放宽对飞控系统的性能要求. To precisely obtain the relative pose of UAV during aerial refueling docking,a machine vision-aided INS/GPS/MV integrated navigation scheme is proposed.Feature extraction and match algorithm of machine vision image are studied.By introducing relative inertial errors,an extended state model of global filter is designed.GPS and machine vision measurement models are established using level-arm vectors.A global multirate extended Kalman filter based on federal framework is designed to realize multirate mutisensor data fusion.Comparison is made between the proposed algorithm and the standard EKF algorithm.Simulation shows that the proposed algorithm can effectively fuse INS/GPS/MV data.The navigation parameter precision and output bandwidth satisfy the requirements of UAV aerial refueling.It can improve UAV qualities and loosen requirements of flight control systems.
出处 《应用科学学报》 EI CAS CSCD 北大核心 2012年第2期209-214,共6页 Journal of Applied Sciences
基金 航空科学基金(No.2008ZC01006)资助
关键词 机器视觉 空中加油 相对导航 扩展卡尔曼滤波 machine vision aerial refueling relative navigation extended Kalman filter
  • 相关文献

参考文献10

  • 1JOSEPH P,JACOB L. Automated aerial refueling:extending the effectiveness of unmanned air vehicles[A].San Francisco CA,2005.6005-6013.
  • 2JACOB H,DANIEL S. Automated aerial refueling presentation to 2007 aerial refueling systems advisory group conference[R].Las Vegas:Air Force Research Laboratory,2007.1-18.
  • 3董新民,徐跃鉴,陈博.自动空中加油技术研究进展与关键问题[J].空军工程大学学报(自然科学版),2008,9(6):1-5. 被引量:60
  • 4WALTON R,MAMOUN F,RHEE I,SONG E WOLFE J. An instrumentation system applied to formation flight[J].IEEE Transactions on Control Systems Technology,2007,(01):75-85.
  • 5MAMMARELLA M,CAMPA G,NAPOLITANO M,FRAVOLINI M. GPS/MV based aerial refueling for UAVs[A].Honolulu,Hawaii,USA,2008.7258-7267.
  • 6CAMPA G,FRAVOLINI M,FICOLA A,MARCELLO R,SEANOR B. Autonomous aerial refueling for UAVs using a combined GPS-machine vision guidance[A].Providence,Rhode Island,USA,2008.5350-5362.
  • 7MADISON R,ANDREWS G,DEBITETTO P. Visionaided navigation for small UAVs in GPS-challenged environments[A].Rohnert Park,California,2007.2986-2996.
  • 8MARCO M,CAMPA G. Machine vision/GPS integration using EKF for the UAV aerial refueling problem[J].IEEE Transactions on Systems Man and Cybernetics,2008,(06):791-801.
  • 9WILLIAMSON R,GLENN J,DANG V. Sensor fusion applied to autonomous aerial refueling[J].Journal of Guidance,Control & Dynamics,2009,(01):262-275.
  • 10WANG Long,DONG Xinmin,GUO Jun. Autonomous aerial refueling for UAVs based on GPS/MV[A].Zibo,China,2010.55-59.

二级参考文献18

  • 1Automated Aerial Refuel(AAR) Technologies and Challenges[ R]. AFRL - VA - WP - TP - 2004 - 314.
  • 2Smith Richard K. Seventy- five Years of In-flight Refueling Highlights( 1923 -1998)[ M]. Lockland :Air Force History and Museums Program. 1998.
  • 3Nalepka Joseph P, Hinchman Jacob L. Automated Aerial Refueling: Extending the Effectiveness of Unmanned Air Velficles [ R]. AIAA - 2005 - 6005.
  • 4Jacob Hinchman. Automated Aerial Refueling Research Summary Presentation[ R]. AFRL- VA- WP- TP- 2003 -344.
  • 5Hansen Jennifer L. The NASA Dryden AAR Project: A Flight Test Approach to An Aerial Refueling System [ R ]. AIAA -2004 - 4939.
  • 6Hansen J L, Murray J E, Campos N V. The NASA Dryden AAR Project: A Flight test Approach To An Aerial Refueling System [ R ]. AIAA - 2004 - 4939.
  • 7Lorenzo Pollini, Mario Innocenti, Roberto Matr. Vision Algorithms for Formation Flight and Aerial Refueling with Optimal Marker Labeling[ R]. AIAA - 2005 - 6010.
  • 8Lorenzo Pollini, Roberto Mati, Mario Innocenti, et al. A Synthetic Environment for Simulation of Vision - based Formation Flight [ R ]. AIAA - 2003 - 5376.
  • 9Valasek J, Kimmett J, Hughes D,et al. Vision Based Sensor and Navigation System for Autonomous Aerial Refueling[ R]. AIAA - 2002 - 3441.
  • 10Kimmett J, Valased J, Junkins J. Autonomous Aerial Refueling Utilizing A Vision Based Navigation System. [ R]. AIAA -2002 - 4469.

共引文献59

同被引文献125

引证文献5

二级引证文献88

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部