Docking navigation method for UAV autonomous aerial refueling
|
摘要
In this paper, a docking navigation method for autonomous aerial refueling(AAR) of unmanned aerial vehicles(UAVs) based on a binocular vision system(BVS) is proposed. A BVS simulation platform is built for simulation research purposes. First, unnecessary scene information in the image is filtered through green light-emitting diodes(LEDs) and filters. Then the image is processed via graying, binarization, and median filtering to highlight the connected area of the LED in the image. Subsequently, the center of mass of the connected area is selected as the feature point(FP), and the FPs are described using an improved Haar wavelet transform. The multidimensional description vector of FP is obtained and matched. Finally,the position and pose of the refueling cone sleeve are estimated. Simulation results show the effectiveness of the presented AAR navigation method.
In this paper, a docking navigation method for autonomous aerial refueling(AAR) of unmanned aerial vehicles(UAVs) based on a binocular vision system(BVS) is proposed. A BVS simulation platform is built for simulation research purposes. First, unnecessary scene information in the image is filtered through green light-emitting diodes(LEDs) and filters. Then the image is processed via graying, binarization, and median filtering to highlight the connected area of the LED in the image. Subsequently, the center of mass of the connected area is selected as the feature point(FP), and the FPs are described using an improved Haar wavelet transform. The multidimensional description vector of FP is obtained and matched. Finally,the position and pose of the refueling cone sleeve are estimated. Simulation results show the effectiveness of the presented AAR navigation method.
In this paper, a docking navigation method for autonomous aerial refueling(AAR) of unmanned aerial vehicles(UAVs) based on a binocular vision system(BVS) is proposed. A BVS simulation platform is built for simulation research purposes. First, unnecessary scene information in the image is filtered through green light-emitting diodes(LEDs) and filters. Then the image is processed via graying, binarization, and median filtering to highlight the connected area of the LED in the image. Subsequently, the center of mass of the connected area is selected as the feature point(FP), and the FPs are described using an improved Haar wavelet transform. The multidimensional description vector of FP is obtained and matched. Finally,the position and pose of the refueling cone sleeve are estimated. Simulation results show the effectiveness of the presented AAR navigation method.
引文
1 Zhang X,Duan H B,Yu Y.Receding horizon control for multi-UAVs close formation control based on differential evolution.Sci China Inf Sci,2010,53:223-235
2 Xu Y,Lai S P,Li J X,et al.Concurrent optimal trajectory planning for indoor quadrotor formation switching.JIntell Robot Syst,2018,4:1-18
3 Nalepka J,Hinchman J.Automated aerial refueling:extending the effectiveness of UAVs.In:Proceedings of AIAAModeling and Simulation Technologies Conference and Exhibit,San Francisco,2013.15-18
4 Li H,Duan H B.Verification of monocular and binocular pose estimation algorithms in vision-based UAVs autonomous aerial refueling system.Sci China Technol Sci,2016,59:1730-1738
5 Xu Y,Li D Y,Luo D L,et al.Affine formation maneuver tracking control of multiple second-order agents with time-varying delays.Sci China Tech Sci,2018.doi:10.1007/s11431-018-9328-2
6 Bloy A W,Trochalidis V,West M G.The aerodynamic interference between a flapped tanker aircraft and a receiver aircraft during air-to-air refueling.Aeronaut J,2016,95:274-282
7 Valasek J,Gunnam K,Kimmett J,et al.Vision-based sensor and navigation system for autonomous air refueling.JGuidance Control Dyn,2005,28:979-989
8 Tandale M D,Bowers R,Valasek J.Robust trajectory tracking controller for vision based probe and drogue autonomous aerial refueling.In:Proceedings of AIAA Guidance,Navigation,and Control Conference and Exhibit,San Francisco,2005.15-18
9 Pollini L,Campa G,Giulietti F,et al.Virtual simulation setup for UAVs aerial refueling.In:Proceedings of AIAAConference on Modeling and Simulation Technologies and Exhibits,Austin,2003.11-14
10 Pollini L,Innocenti M,Mati R.Vision algorithms for formation flight and aerial refueling with optimal marker labeling.In:Proceedings of AIAA Modeling and Simulation Technologies Conference and Exhibit,San Francisco,2005.15-18
11 Schweighofer G,Pinz A.Robust pose estimation from a planar target.IEEE Trans Pattern Anal Mach Intell,2006,28:2024-2030
12 Zhang S J,Cao X B,Zhang F,et al.Monocular vision-based iterative pose estimation algorithm from corresponding feature points.Sci China Inf Sci,2010,53:1682-1696
13 Chen C I,Stettner R.Drogue tracking using 3D flash lidar for autonomous aerial refueling.Proc SPIE,2011,8037:2362-2375
14 Huang B,Sun Y R,Sun X D,et al.Circular drogue pose estimation for vision-based navigation in autonomous aerial refueling.In:Proceedings of Guidance,Navigation and Control Conference(GNCC),Nanjing,2016.960-965
15 Duan H B,Zhang Q F,Deng Y M,et al.Biologically eagle-eye-based autonomous aerial refueling for unmanned aerial vehicles.Chin J Sci Instrum,2014,35:1450-1458
16 Duan H B,Li H,Luo Q N,et al.A binocular vision-based UAVs autonomous aerial refueling platform.Sci China Inf Sci,2016,59:053201
17 Bolien M,Iravani P,Bois J L D.Toward robotic pseudodynamic testing for hybrid simulations of air-to-air refueling.IEEE/ASME Trans Mechatron,2017,22:1004-1013
18 Zhang Z.Flexible camera calibration by viewing a plane from unknown orientations.In:Proceedings of the 7th IEEEInternational Conference on Computer Vision(ICCV),Kerkyra,2002.666-673
19 Zhang Z.A flexible new technique for camera calibration.IEEE Trans Pattern Anal Machine Intell,2000,22:1330-133420 Yang J,Liang B,Zhang T,et al.A novel systematic error compensation algorithm based on least squares support vector regression for star sensor image centroid estimation.Sensors,2011,11:7341-7363
21 Molano R,Rodr′?guez P G,Caro A,et al.Finding the largest area rectangle of arbitrary orientation in a closed contour.Appl Math Comput,2012,218:9866-9874
22 Alemohammad M,Stroud J R,Bosworth B T,et al.High-speed all-optical Haar wavelet transform for real-time image compression.Opt Express,2017,25:9802-9811
23 Papadimitriou D V,Dennis T J.Epipolar line estimation and rectification for stereo image pairs.IEEE Trans Image Process,1996,5:672-676
24 Lu C P,Hager G D,Mjolsness E.Fast and globally convergent pose estimation from video images.IEEE Trans Pattern Anal Mach Intell,2000,22:610-622
25 Murillo O,Lu P.Comparison of autonomous aerial refueling controllers using reduced order models.In:Proceedings of the AIAA Guidance,Navigation and Control Conference and Exhibit,Honolulu,2008.18-36
2 Xu Y,Lai S P,Li J X,et al.Concurrent optimal trajectory planning for indoor quadrotor formation switching.JIntell Robot Syst,2018,4:1-18
3 Nalepka J,Hinchman J.Automated aerial refueling:extending the effectiveness of UAVs.In:Proceedings of AIAAModeling and Simulation Technologies Conference and Exhibit,San Francisco,2013.15-18
4 Li H,Duan H B.Verification of monocular and binocular pose estimation algorithms in vision-based UAVs autonomous aerial refueling system.Sci China Technol Sci,2016,59:1730-1738
5 Xu Y,Li D Y,Luo D L,et al.Affine formation maneuver tracking control of multiple second-order agents with time-varying delays.Sci China Tech Sci,2018.doi:10.1007/s11431-018-9328-2
6 Bloy A W,Trochalidis V,West M G.The aerodynamic interference between a flapped tanker aircraft and a receiver aircraft during air-to-air refueling.Aeronaut J,2016,95:274-282
7 Valasek J,Gunnam K,Kimmett J,et al.Vision-based sensor and navigation system for autonomous air refueling.JGuidance Control Dyn,2005,28:979-989
8 Tandale M D,Bowers R,Valasek J.Robust trajectory tracking controller for vision based probe and drogue autonomous aerial refueling.In:Proceedings of AIAA Guidance,Navigation,and Control Conference and Exhibit,San Francisco,2005.15-18
9 Pollini L,Campa G,Giulietti F,et al.Virtual simulation setup for UAVs aerial refueling.In:Proceedings of AIAAConference on Modeling and Simulation Technologies and Exhibits,Austin,2003.11-14
10 Pollini L,Innocenti M,Mati R.Vision algorithms for formation flight and aerial refueling with optimal marker labeling.In:Proceedings of AIAA Modeling and Simulation Technologies Conference and Exhibit,San Francisco,2005.15-18
11 Schweighofer G,Pinz A.Robust pose estimation from a planar target.IEEE Trans Pattern Anal Mach Intell,2006,28:2024-2030
12 Zhang S J,Cao X B,Zhang F,et al.Monocular vision-based iterative pose estimation algorithm from corresponding feature points.Sci China Inf Sci,2010,53:1682-1696
13 Chen C I,Stettner R.Drogue tracking using 3D flash lidar for autonomous aerial refueling.Proc SPIE,2011,8037:2362-2375
14 Huang B,Sun Y R,Sun X D,et al.Circular drogue pose estimation for vision-based navigation in autonomous aerial refueling.In:Proceedings of Guidance,Navigation and Control Conference(GNCC),Nanjing,2016.960-965
15 Duan H B,Zhang Q F,Deng Y M,et al.Biologically eagle-eye-based autonomous aerial refueling for unmanned aerial vehicles.Chin J Sci Instrum,2014,35:1450-1458
16 Duan H B,Li H,Luo Q N,et al.A binocular vision-based UAVs autonomous aerial refueling platform.Sci China Inf Sci,2016,59:053201
17 Bolien M,Iravani P,Bois J L D.Toward robotic pseudodynamic testing for hybrid simulations of air-to-air refueling.IEEE/ASME Trans Mechatron,2017,22:1004-1013
18 Zhang Z.Flexible camera calibration by viewing a plane from unknown orientations.In:Proceedings of the 7th IEEEInternational Conference on Computer Vision(ICCV),Kerkyra,2002.666-673
19 Zhang Z.A flexible new technique for camera calibration.IEEE Trans Pattern Anal Machine Intell,2000,22:1330-133420 Yang J,Liang B,Zhang T,et al.A novel systematic error compensation algorithm based on least squares support vector regression for star sensor image centroid estimation.Sensors,2011,11:7341-7363
21 Molano R,Rodr′?guez P G,Caro A,et al.Finding the largest area rectangle of arbitrary orientation in a closed contour.Appl Math Comput,2012,218:9866-9874
22 Alemohammad M,Stroud J R,Bosworth B T,et al.High-speed all-optical Haar wavelet transform for real-time image compression.Opt Express,2017,25:9802-9811
23 Papadimitriou D V,Dennis T J.Epipolar line estimation and rectification for stereo image pairs.IEEE Trans Image Process,1996,5:672-676
24 Lu C P,Hager G D,Mjolsness E.Fast and globally convergent pose estimation from video images.IEEE Trans Pattern Anal Mach Intell,2000,22:610-622
25 Murillo O,Lu P.Comparison of autonomous aerial refueling controllers using reduced order models.In:Proceedings of the AIAA Guidance,Navigation and Control Conference and Exhibit,Honolulu,2008.18-36