A Hawkeye-like Moving Target Locating Method for Soft Autonomous Aerial Refueling
A technology for aerial refueling and positioning method, which is applied in the field of computer vision and can solve the problems of inability to accurately give the position of the refueling cone and the oil receiving port, and the dependence on external signals.
Active Publication Date: 2019-12-06
BEIHANG UNIV
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Problems solved by technology
The GPS navigation system is widely used, the technology is relatively mature, and it is easy to use. However, because it completely relies on the reception of satellite signals, it relies heavily on external signals.
In addition, for soft refueling, the hose and the refueling drogue it carries will oscillate under the influence of airflow, and the position between the refueling machine and the refueling machine obtained by using differential GPS and inertial navigation cannot accurately give the refueling cone and the position of the oil receiving port
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[0062] The effectiveness of the method designed by the present invention will be verified below through a specific aerial verification platform refueling cone positioning example. In this example, two UAVs are used for testing, one UAV is used as a refueling aircraft, and the other is used as a refueling aircraft. Its main components are as follows figure 1shown. The tanker is DJI’s S900 six-rotor aircraft, equipped with 3DR’s APM2.5 open source flight control system, the wireless data transmission module is 3DR’s APM data transmission system, and the onboard processor is the Raspberry Pi processor. DJI's S900 six-rotor aircraft is also used for the oil receiving aircraft. The oil receiving aircraft is equipped with binocular vision sensors, onboard visual processors and digital wireless image transmission equipment. Among them, the flight controller is the Pixhawk open source flight control produced by 3DR Company, the visual processor is the Axiom industrial processor, the ...
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The invention provides an eagle-eye-based moving target locating method used for soft autonomous aerial refueling. The method comprises the implementation steps of step one: eagle-eye-based vision top cover cell response computation; step two: eagle-eye-based nuclear mass texture suppression and saliency map extraction; step three: color threshold segmentation; step four: area-of-interest extraction; step five: acquisition of taper sleeve mark point coordinates; step six: mark point matching; step seven: calibration of camera parameters; and step eight: refueling taper sleeve pose measurement. According to the eagle-eye-based moving target locating method used for soft autonomous aerial refueling, the refueling taper sleeve in the unmanned aerial vehicle soft refueling process can be accurately extracted, the position of the refueling taper sleeve can be accurately determined and the method has high accuracy and robustness.
Description
[0001] 1. Technical field [0002] The invention relates to a hawk-eye imitating moving target positioning method for soft autonomous aerial refueling, which belongs to the technical field of computer vision. [0003] 2. Background technology [0004] Autonomous aerial refueling technology is a hotspot in the research field of aircraft autonomy and intelligence. This technology can not only be used to improve the combat radius and combat effectiveness of UAVs, but also help to improve the safety and operability of manned aircraft aerial refueling. Especially in severe weather conditions, the use of autonomous aerial refueling technology can greatly reduce the technical difficulty and workload of pilots for aerial refueling. In April 2011, Northrop Grumman, the Defense Advanced Research Projects Agency and the Dryden Flight Center of NASA completed a modified unmanned verification aircraft with a Global Hawk at an altitude of 13716m. It pioneered the partner-type air refueling ...
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IPC IPC(8): G06T7/73G06T7/136G06T7/90
CPCG06T7/136G06T7/73G06T7/90
Inventor 段海滨王晓华邓亦敏
Owner BEIHANG UNIV