Binocular vision-based unmanned aerial vehicle aerial autonomous refueling fast docking navigation method

A technology of binocular vision and navigation method, which is applied in image data processing, instrumentation, calculation, etc., can solve the problem that the matching accuracy rate needs to be improved, achieve the effect of accurate and useful feature points, high matching accuracy rate, and increase the amount of calculation

Inactive Publication Date: 2017-07-07
XIAMEN UNIV
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AI Technical Summary

Problems solved by technology

Epipolar matching only reduces the matching dimension from two dimensions to one dimension, so the matching accuracy needs to be improved

Method used

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  • Binocular vision-based unmanned aerial vehicle aerial autonomous refueling fast docking navigation method
  • Binocular vision-based unmanned aerial vehicle aerial autonomous refueling fast docking navigation method
  • Binocular vision-based unmanned aerial vehicle aerial autonomous refueling fast docking navigation method

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Embodiment Construction

[0059] The present invention provides a binocular vision-based autonomous refueling fast docking navigation method for UAVs in the air, see figure 1 ,Specific steps are as follows:

[0060] Step 1.1: Fix two cameras of the same model on the left and right sides of the drone, adjust the angles to form a binocular vision system, and calibrate the binocular vision system using Zhang Zhengyou’s calibration method to obtain the binocular vision The internal parameters and external parameters of the system, and then install filters that only allow a single color to pass through the lenses of the left and right cameras.

[0061] Step 1.2: Install an optical marker light on the circumference of the refueling drogue sleeve of the fuel dispenser. The light emitting color of the optical marker light is the same as the color allowed by the optical filter installed on the camera.

[0062] Step 1.3: Use the binocular vision system described in step 1.1 to take pictures of the refueling dr...

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Abstract

The invention relates to a binocular vision-based unmanned aerial vehicle aerial autonomous refueling fast docking navigation method and belongs to the machine vision and image processing field. The method includes the following steps that: a binocular camera system with an optical filter shoots a refueling taper sleeve with an optical marker lamp, so that a left image and a right image are obtained; gray processing, binarization and median-value filtering are performed on the left image and the right image sequentially, all communicated regions in the left image and the right image are searched and marked through adopting a regional growth method, and the centroids of each of the communicated regions are calculated and are adopted as feature points; improved haar wavelet transform is adopted to describe all the feature points, and the description vectors of all the feature points are obtained, the feature points of the left image and the right image are matched through adopting the minimum Euclidean distance method, so that the feature point pars of the left image and the right image are obtained; and the three-dimensional coordinates of the feature points are calculated by using a binocular vision principle, and the least squares method is adopted to perform spatial circle fitting on the three-dimensional coordinates, and the end surface circle curve of the refueling taper sleeve is obtained, and the center, normal vector and radius of the circle are obtained through calculation.

Description

technical field [0001] The invention relates to machine vision and image processing, in particular to a binocular vision-based rapid docking navigation method for autonomous refueling of UAVs in the air. Background technique [0002] In recent years, as the application of drones has become more and more widespread, especially in the military field, drones have become equipment that countries are vying to equip, and the subsequent demand for increasing the range of drones has made drones Autonomous aerial refueling technology emerges as the times require. Autonomous aerial refueling of drones can extend the flight time of drones in the air, increase the endurance time of drones by 30% to 40%, and increase the load capacity at the same time. Therefore, UAV autonomous aerial refueling technology makes UAV have very broad prospects in future air combat, defense and reconnaissance. [0003] The key to aerial refueling is in the docking stage. It is necessary to measure the rela...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/11G06T7/187G06T7/33G06T7/66G06T7/80
CPCG06T2207/10004G06T2207/20064G06T2207/30208
Inventor 罗德林李柱吴顺祥
Owner XIAMEN UNIV
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