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

A technology of automatic refueling and visual positioning, applied in aircraft parts, transportation and packaging, etc., can solve the problem of not being able to play a positioning role, and achieve the effect of small error and reducing the effect of random noise.

Inactive Publication Date: 2014-09-03
XI AN JIAOTONG UNIV
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Problems solved by technology

The radar and GPS-assisted inertial navigation systems have blind spots, and when the distance betwee

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

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Embodiment Construction

[0031] The implementation of the present invention will be described in detail below in conjunction with the drawings and examples.

[0032] The visual positioning measurement and control method for the automatic refueling blind area of ​​the UAV in the present invention mainly uses the machine vision detection method to perform pattern recognition calculation and positioning on the refueling probe and the oil delivery drogue sleeve; then transmits the positioning data to the ground station, and the ground station filters the data and Calculate the control command through the control algorithm; finally send the control command to the aircraft side to control the aircraft (refueling UAV and refueling UAV) to achieve the purpose of automatic refueling.

[0033] The present invention builds the following experimental platform to verify the feasibility of the method.

[0034] In the present invention, two S800 six-rotor aircraft are used as the oil-receiving UAV and the oil-delive...

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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...

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Application Information

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IPC IPC(8): B64D39/00
Inventor 韩九强夏雨刘俊袁驰
Owner XI AN JIAOTONG UNIV
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