摘要
空中加油作为增加飞行器续航能力的一种有效手段,正受到越来越多的关注和研究,而具有低成本、无源性等优点的视觉导航技术为自动空中加油的实现提供了可靠的解决方案;首先介绍了空中加油的基本概念,包括软、硬两种不同方式以及从交会到脱离的过程;然后以加油锥套、受油接口、飞行器机体三种不同的研究主体为切入点,梳理了针对自动空中加油问题的视觉定位解决方案,着重阐述了其中基于视觉的检测跟踪和位姿估计过程,总结了其中可用的视觉定位算法;最后讨论了当前该领域待解决的问题,并展望未来的研究方向。
As an effective means to increase the flight endurance of aircraft,aerial refueling is attracting more and more attention and research.Visual navigation with the advantages of low cost and passivity provides a reliable solution for autonomous aerial refueling.Firstly,the basic concept of aerial refueling is introduced,including two different methods of probe-and-drogue refueling(PDR)and boom-and-receptacle refueling(BRR),and the overall process from rendezvous to separation.Then,the visual localization solutions for autonomous aerial refueling are reviewed from the perspectives of the refueling drogue,receptacle,and aircraft body.The processes of detection,tracking,and pose estimation are emphasized,and the available visual navigation algorithms are summarized.Finally,the current unresolved issues in this field are discussed,and the future research directions are anticipated.
作者
赵敏琨
刘小雄
徐新龙
杨楠
王映龙
ZHAO Minkun;LIU Xiaoxiong;XU Xinlong;YANG Nan;WANG Yinglong(School of Automation,Northwestern Polytechnical University,Xi an 710072,China)
出处
《计算机测量与控制》
2023年第6期267-273,279,共8页
Computer Measurement &Control
基金
国家自然科学基金(62073266)
航空科学基金(201905053003)。
关键词
空中加油
视觉导航
检测跟踪
位姿估计
定位
aerial refueling
visual navigation
detection and tracking
pose estimation
localization
