Predator Series - the latest developments AUVSI Conference 2007

摘要

This paper outlines the significant areas of work undertaken within this project and very briefly discusses some of the many issues encountered within each area, during the development of a vision based sensor for an autonomous in-flight refueling system. The system was tested onboard an F-18 aircraft platform which successfully demonstrated the first ever fully autonomous airborne refueling operation using the hose and drogue system. Sensor and viewpoint trade studies were done to improve the robustness and maximize performance of the system. Range estimation of sufficient accuracy using a monocular camera sensor was achieved through careful analysis of complementary image-processing algorithms. Tracking performance was improved by designing a common track merge filter to recognize various operating modes and appropriately filter measurements from multiple sources. Recent work has shown successful results when attempting to refuel in more difficult conditions, for example whilst executing a banking maneuver, and various lighting conditions. Future work will look to expand the operation of this system to all weather capability and 24 hour operation, and the ability to improve initial acquisition of the drogue at significantly longer ranges.