航空科学技术2025，Vol.36Issue(10)：62-72,11.DOI:10.19452/j.issn1007-5453.2025.10.008
基于哈里斯鹰-鸽群混合优化的无人机自主空中加油位姿测量方法
Pose Measurement Method of Autonomous Aerial Refueling for UAV Based on Harris Hawk-Hybrid Pigeon Inspired Optimization
摘要
Abstract
Autonomous aerial refueling for unmanned aerial vehicle(UAV)is a core technology to enhance operational range and endurance,where high-precision position and attitude measurement serves as a crucial prerequisite for achieving safe and reliable docking.In this paper,a pose measurement algorithm for autonomous aerial refueling is proposed based on Harris hawk-hybrid pigeon inspired optimization.The segmentation method is presented based on the color segmentation method of eagle-eye vision opponency mechanism.The RPnP method is introduced for pose measurement.To improve the measurement ability,the optimization algorithm is utilized.The Harris hawk-hybrid pigeon inspired optimization algorithm is proposed by combining the search strategies of the pigeon inspired optimization algorithm and the Harris hawk optimization,which can effectively overcome the issue of getting trapped in local optima of traditional optimization algorithm.Simulation tests are conducted in Gazebo and comparative results show that the proposed method consistently achieves the superior performance and strong adaptability under varying numbers of reference points and noise levels scenarios,thus effectively addressing the problem of inadequate adaptability to dynamic environmerrl for the pose measurement for UAV autonomous aerial refueling..关键词
无人机/仿生视觉/视觉测量/自主导航/空中加油Key words
UAV/bio-inspired vision/visual measurement/automatic navigation/aerial refueling分类
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王芃骁,邓亦敏,孙永斌,段海滨..基于哈里斯鹰-鸽群混合优化的无人机自主空中加油位姿测量方法[J].航空科学技术,2025,36(10):62-72,11.基金项目
国家自然科学基金(62473025) （62473025）
航空科学基金(20175851033,2015ZA510013,20185851022) National Natural Science Foundation of China(62473025) （20175851033,2015ZA510013,20185851022）
Aeronautical Science Foundation of China(20175851033,2015ZA510013,20185851022) （20175851033,2015ZA510013,20185851022）
