摘要
为了解决无人机软管式加油信标点检测与匹配难的问题,设计了一种近红外信标检测系统,并提出一种鲁棒信标点匹配算法。该系统设计将8个850 nm波段近红外LED灯均匀布置在加油锥套外环,将850 nm带通滤镜和罗技C310摄像头结合,构成近红外信标检测系统;针对干扰点带来的误匹配问题,设计一种基于几何特征约束的信标点匹配算法,该算法可完成远干扰点排除、特征点排序、近干扰点排除和特征点标记。通过各种复杂环境的实验进行算法性能验证,结果表明:信标检测系统检测精度高、可靠性好;信标点匹配算法可以在复杂环境下鲁棒地实现信标点准确匹配。相对位置解算实验结果表明其解算精度较高。
In order to solve the beacon point detection and matching problem in unmanned aerial vehicle （UAV） probe and drogue refueling, a near-infrared beacon detection system was designed, and a robust beacon point matching algorithm was proposed. The near-infrared beacon detection system was constituted with eight 850 nm wavelength near-infrared Light-Emitting Diode （LED） lights arranged uniformly in outer ring of the refueling drogue, and 850 nm band-pass filter integrated with Logitech C310 camera. To solve the mismatch problem caused by interference points, a beacon point matching algorithm based on geometric feature constraint was presented, which can accomplish the far interference point exclusion, feature point sorting, near interference point exclusion and feature point marking. The algorithm performance was validated through experiments in various complex environments. The results show that the beacon detection system has the advantages of high detection accuracy and reliability, and the beacon point matching algorithm can realize exact matching of beacon points robustly in various complex environments. Experimental results of relative position calculation show that the calculation is of high accuracy.
出处
《电光与控制》
北大核心
2015年第6期21-26,共6页
Electronics Optics & Control
基金
国家自然科学基金重点项目(61135001)
西安市科技计划项目(CXY1350(2))
关键词
无人机
软管式加油
近红外信标
检测
信标点匹配
几何特征
相对位置解算
UAV
probe and drogue refueling
near-infrared beacon
detection
beacon point matching
geometric feature
relative position calculation
