The lack of autonomous aerial refueling capabilities is one of the greatest limitations of unmanned aerial vehicles. This paper discusses the vision-based estimation of the relative pose of a tanker and unmanned aeria...The lack of autonomous aerial refueling capabilities is one of the greatest limitations of unmanned aerial vehicles. This paper discusses the vision-based estimation of the relative pose of a tanker and unmanned aerial vehicle, which is a key issue in autonomous aerial refueling. The main task of this paper is to study the relative pose estimation for a tanker and unmanned aerial vehicle in the phase of commencing refueling and during refueling. The employed algorithm includes the initialization of the orientation parameters and an orthogonal iteration algorithm to estimate the optimal solution of rotation matrix and translation vector. In simulation experiments, because of the small variation in the rotation angle in aerial refueling, the method in which the initial rotation matrix is the identity matrix is found to be the most stable and accurate among methods. Finally, the paper discusses the effects of the number and configuration of feature points on the accuracy of the estimation results when using this method.展开更多
The measurement of position and attitude parameters for the isolated target from a highspeed aircraft is a great challenge in the field of wind tunnel simulation technology.In this paper,firstly, an image acquisition ...The measurement of position and attitude parameters for the isolated target from a highspeed aircraft is a great challenge in the field of wind tunnel simulation technology.In this paper,firstly, an image acquisition method for small high-speed targets with multi-dimensional movement in wind tunnel environment is proposed based on laser-aided vision technology.Combining with the trajectory simulation of the isolated model, the reasonably distributed laser stripes and selfluminous markers are utilized to capture clear images of the object.Then, after image processing,feature extraction, stereo correspondence and reconstruction, three-dimensional information of laser stripes and self-luminous markers are calculated.Besides, a pose solution method based on projected laser stripes and self-luminous markers is proposed.Finally, simulation experiments on measuring the position and attitude of high-speed rolling targets are conducted, as well as accuracy verification experiments.Experimental results indicate that the proposed method is feasible and efficient for measuring the pose parameters of rolling targets in wind tunnels.展开更多
With the high focus on autonomous aerial refueling(AAR), it becomes increasingly urgent to design efficient methods or algorithms for solving the AAR problems in complicated aerial environments. A vision-based technol...With the high focus on autonomous aerial refueling(AAR), it becomes increasingly urgent to design efficient methods or algorithms for solving the AAR problems in complicated aerial environments. A vision-based technology for AAR is developed in this paper, and five monocular and binocular visual algorithms for pose estimation of the unmanned aerial vehicles(UAVs) are adopted and verified in this AAR system. The real-time on-board vision system is also designed for precise navigation in the UAVs docking phase. A series of out-door comparative experiments for different pose estimation algorithms are conducted to verify the feasibility and accuracy of the vision algorithms in AAR.展开更多
基金National Natural Science Foundation of China （51075207） Startup Foundation for Introduced Talents of Nanjing University of Aeronautics and Astronautics （1007-YAH10047）
文摘The lack of autonomous aerial refueling capabilities is one of the greatest limitations of unmanned aerial vehicles. This paper discusses the vision-based estimation of the relative pose of a tanker and unmanned aerial vehicle, which is a key issue in autonomous aerial refueling. The main task of this paper is to study the relative pose estimation for a tanker and unmanned aerial vehicle in the phase of commencing refueling and during refueling. The employed algorithm includes the initialization of the orientation parameters and an orthogonal iteration algorithm to estimate the optimal solution of rotation matrix and translation vector. In simulation experiments, because of the small variation in the rotation angle in aerial refueling, the method in which the initial rotation matrix is the identity matrix is found to be the most stable and accurate among methods. Finally, the paper discusses the effects of the number and configuration of feature points on the accuracy of the estimation results when using this method.
基金supported by the National Natural Science Foundation of China (Nos.51375075, 51227004)the Scientific Research Fund of Liaoning Provincial Education Department of China (No.L2013035)the Science Fund for Creative Research Groups of China (No.51321004)
文摘The measurement of position and attitude parameters for the isolated target from a highspeed aircraft is a great challenge in the field of wind tunnel simulation technology.In this paper,firstly, an image acquisition method for small high-speed targets with multi-dimensional movement in wind tunnel environment is proposed based on laser-aided vision technology.Combining with the trajectory simulation of the isolated model, the reasonably distributed laser stripes and selfluminous markers are utilized to capture clear images of the object.Then, after image processing,feature extraction, stereo correspondence and reconstruction, three-dimensional information of laser stripes and self-luminous markers are calculated.Besides, a pose solution method based on projected laser stripes and self-luminous markers is proposed.Finally, simulation experiments on measuring the position and attitude of high-speed rolling targets are conducted, as well as accuracy verification experiments.Experimental results indicate that the proposed method is feasible and efficient for measuring the pose parameters of rolling targets in wind tunnels.
基金supported by the National Natural Science Foundation of China(Grant Nos.61425008,61333004&61273054)the Aeronautical Foundation of China(Grant No.2015ZA51013)
文摘With the high focus on autonomous aerial refueling(AAR), it becomes increasingly urgent to design efficient methods or algorithms for solving the AAR problems in complicated aerial environments. A vision-based technology for AAR is developed in this paper, and five monocular and binocular visual algorithms for pose estimation of the unmanned aerial vehicles(UAVs) are adopted and verified in this AAR system. The real-time on-board vision system is also designed for precise navigation in the UAVs docking phase. A series of out-door comparative experiments for different pose estimation algorithms are conducted to verify the feasibility and accuracy of the vision algorithms in AAR.
