基于无损切换的无人机自主空中加油技术研究

摘要

A approach of autonomous aerial refueling for UAV based on lossless switching was advanced. A model simulation system of UAV aerial refueling was established, which contained the models of UAV with disturbing effect and greaser of boom-and-receptacle refueling(BRR), lossless switching binocular vision sensor and laser rage ifnder. The lossless switching algorithm for close approximation and automatic docking, the feature point recognition and pose estimation algorithm of machine vision, and the data fusion scheme based binocular and laser range ifnder were studied. Pose measurement simulation for close approximation and automatic docking was achieved. The simulation results showed that the lossless switching scheme can obtain precise relative position and pose, and had higher accuracy, good real time and robustness performance, and can guarantee stabilize docking and tracking of AAR under disturbance.%提出了基于无损切换的无人机自主空中加油解决方案，建立了包括无损切换的双目视觉传感器、激光测距传感器以及扰动影响的无人机和硬式加油管的仿真系统；研究了近距离逼近与自动对接阶段的无损切换算法，双目视觉特征点识别与位姿估计算法，双目视觉测量与激光测距融合算法，分别对近距离逼近与自动对接阶段的位姿测量进行了仿真验证。结果表明，本技术方案可实现近距离逼近和自动对接的相对位姿精确测量，且具有较强的实时性、准确性和鲁棒性，保证了自动空中加油的平稳跟踪引导和自动对接。