航空科学技术Issue(11)：103-108,6.
基于无损切换的无人机自主空中加油技术研究
Technique Research of Autonomous Aerial Refueling for UAV Based on Lossless Switching
摘要
Abstract
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.关键词
无人机/自主空中加油/无损切换/位姿估计/双目视觉/多传感器融合Key words
UAV/autonomous aerial refueling/lossless switching/pose estimation/binocular vision/multi-sensor fusion分类
航空航天引用本文复制引用
杨超,麻彦轩,甘志超,张卫攀..基于无损切换的无人机自主空中加油技术研究[J].航空科学技术,2015,(11):103-108,6.基金项目
航空科学基金（2013ZA34001）@@@@Aeronautical Science Foundation of China （）
