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首页> 外文期刊>Optical engineering >Drogue pose estimation for unmanned aerial vehicle autonomous aerial refueling system based on infrared vision sensor
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Drogue pose estimation for unmanned aerial vehicle autonomous aerial refueling system based on infrared vision sensor

机译：基于红外视觉传感器的无人机自主空中加油系统锥位估计

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摘要

Autonomous aerial refueling is a significant technology that can significantly extend the endurance of unmanned aerial vehicles. A reliable method that can accurately estimate the position and attitude of the probe relative to the drogue is the key to such a capability. A drogue pose estimation method based on infrared vision sensor is introduced with the general goal of yielding an accurate and reliable drogue state estimate. First, by employing direct least squares ellipse fitting and convex hull in OpenCV, a feature point matching and interference point elimination method is proposed. In addition, considering the conditions that some infrared LEDs are damaged or occluded, a missing point estimation method based on perspective transformation and affine transformation is designed. Finally, an accurate and robust pose estimation algorithm improved by the runner-root algorithm is proposed. The feasibility of the designed visual measurement system is demonstrated by flight test, and the results indicate that our proposed method enables precise and reliable pose estimation of the probe relative to the drogue, even in some poor conditions.
机译：自主空中加油是一项重要技术，可以大大延长无人机的续航能力。能够准确估计探头相对于锥套的位置和姿势的可靠方法是实现此功能的关键。提出了一种基于红外视觉传感器的锥套姿态估计方法，其目标是产生准确，可靠的锥套状态估计。首先，通过在OpenCV中采用直接最小二乘椭圆拟合和凸包，提出了一种特征点匹配和干扰点消除方法。另外，考虑到某些红外LED损坏或被遮挡的情况，设计了一种基于透视变换和仿射变换的缺失点估计方法。最后，提出了一种基于流道根算法改进的精确鲁棒的姿态估计算法。通过飞行测试证明了所设计的视觉测量系统的可行性，结果表明，即使在某些恶劣条件下，我们提出的方法也能够相对于锥套精确，可靠地估计探头的姿态。

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  • 来源
    《Optical engineering》 |2017年第12期|124105.1-124105.12|共12页
  • 作者

    Shanjun Chen; Haibin Duan; Yimin Deng; Cong Li; Guozhi Zhao; Yan Xu;

  • 作者单位

    State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China;

    State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China;

    State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China;

    State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China;

    State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China;

    State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing, China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    autonomous aerial refueling; pose estimation; unmanned aerial vehicles; infrared vision;

    机译：自主空中加油;姿势估计;无人机红外视觉;

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