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自动空中加油是未来无人机(UAV)需具备的重要能力之一。建立了包括UAV和加油机模型、视觉传感器、气动影响及视景的飞行硬管式无人机自动空中加油仿真系统;研究了单目视觉特征点识别与位姿估计算法,考虑大气扰动及加油机尾流的影响;设计了通过轨迹跟踪实现UAV与加油管会合对接的控制策略,并对加油末段的对接机动进行了仿真。结果表明,单目视觉可实现精确的相对位置测量,轨迹跟踪控制器超调量小,保证了自动空中加油的平稳对接。
Automatic air refueling is one of the key capabilities a UAV needs in the future. The simulation system of automatic air refueling for a flying tube UAV including UAV and tanker model, visual sensor, aerodynamic influence and visual scene was established. The algorithm of monocular visual feature recognition and attitude estimation was studied, considering the disturbance and refueling The influence of wake flow and wake flow is analyzed. A control strategy is proposed to realize the joint docking of UAV and fuel filler pipe by trajectory tracking, and the docking maneuver of the final fueling is simulated. The results show that monocular vision can achieve accurate relative position measurement, and the trajectory tracking controller has less overshoot, which ensures the smooth docking of automatic air refueling.