Vision localization, measurement and control method, system and experimental platform for automatic refueling dead zone of unmanned aerial vehicle

Abstract

The invention relates to a vision localization, measurement and control method for an automatic refueling dead zone of an unmanned aerial vehicle. According to the method, pattern recognition, calculation and localization of a fuel delivery taper sleeve on an unmanned aerial vehicle for fuel delivery are carried out by a visual machine inspection method, so that the relative position between a filler pipe and the fuel delivery taper sleeve is obtained; locating data are transmitted to a ground station; the ground station filters the data, and calculates a control command by a control algorithm; the control command is sent to an aircraft end for controlling the aircraft to achieve the purpose of automatic refueling. The invention also provides a relevant localization, measurement and control system and an experimental platform. The invention has the core idea that a refueled unmanned aerial vehicle collects a target image of the fuel delivery taper sleeve through a camera with an adjustable focus, calculates a relative position and size of a target in view by a projection method and a pattern recognition algorithm, then calculates the relative position between a refueled pipe and the fuel delivery taper sleeve, and the ground station controls unmanned aerial vehicles to dock and implement refueling operation. The vision localization, measurement and control method for a dead zone is fast and stable, high in precision, and can meet the application requirement for localization of an automatic refueling dead zone of an unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the field of machine vision image measurement and automatic control, and in particular relates to a method, system and experimental platform for visual positioning, measurement and control of blind spots in automatic refueling of unmanned aerial vehicles. Background technique [0002] Aerial refueling technology is the main guarantee for the air forces of various countries to fight on a global scale. Fighters, bombers, reconnaissance aircraft and transport aircraft can all increase their range through aerial refueling. Although the application of unmanned aerial vehicles in the field of military operations is becoming more and more extensive, the current unmanned aerial vehicles do not have the design of aerial refueling. The endurance of drones is not strong, and they need to land on the ground for refueling, which will greatly affect their combat capabilities in wartime. Therefore, it is very necessary and urgent to develop t...

AI Technical Summary

Problems solved by technology

The radar and GPS-assisted inertial navigation systems have blind spots, and when the distance between the two aircraft is shortened (generally 30 meters), it will not be able to play a positioning role

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