摘要
针对当前无人机空中加油自动化程度不高,对加油作业环境要求苛刻等问题。分析了空中加油技术中重要因素——目标的相对距离以及姿态测量的基础上,研究了一种基于视觉导航的自主空中加油技术,将双目视觉引入自主空中加油系统中,运用对极几何原理,加快算法的更新速度,提高算法的稳定性和抗扰动性,设计并完成仿真实验。仿真实验结果表明,该算法在精度、速度和稳定性方面均能够满足视觉导航空中加油的需求。
The key issues of autonomous aerial refueling（AAR） based on stereo-vision navigation were studied.The important factors affecting the performance of AAR were analyzed,including the target’s pose and the measure of relative distance.The stereo-vision was introduced into the visual navigation algorithm of the AAR,and the epipolar geometry principle was applied in order to accelerate the updating of the algorithm.The stability and capability of anti-disturbance were also improved.Furthermore,an integrated simulation system was designed.The simulation results show that the accuracy and stability of the vision navigation algorithm can meet the requirements of aerial refueling.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2013年第6期1327-1331,共5页
Journal of System Simulation
基金
航空科学基金(2008ZC53017)
关键词
自主空中加油
视觉导航
双目视觉
对极几何
autonomous aerial refueling
vision navigation
stereo-vision
epipolar geometry
