一种飞行器高精度高动态自主拦截 / 碰撞的方法
By employing a method based on rotation matrix and delayed Kalman filtering, the control error problem caused by camera delay and low frame rate under high-speed multi-rotor motion was solved, achieving stability and success rate of high-precision, high-dynamic autonomous interception/collision missions.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIHANG UNIV
- Filing Date
- 2024-02-29
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies for high-precision, high-dynamic autonomous interception/collision missions suffer from camera imaging and image processing delays caused by the high-speed movement of multi-rotors, resulting in large control errors and low image feedback frequency leading to system instability, making it difficult to achieve high-precision interception/collision.
By employing a rotation matrix-based controller and a delayed Kalman filter method, combined with an aircraft model, target model, camera imaging model, and IMU measurement model, the stability and accuracy of the controller are optimized through delayed state estimation, achieving high-precision and high-dynamic interception/collision.
It improves the success rate and accuracy of interception/collision missions, and can achieve stable autonomous interception/collision control under high-speed conditions, effectively responding to the threat of high-speed target intrusion.
Smart Images
Figure CN118242933B_ABST