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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers >Towards docking safety analysis for unmanned aerial vehicle probe-drogue autonomous aerial refueling based on docking success-probability and docking reachability
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Towards docking safety analysis for unmanned aerial vehicle probe-drogue autonomous aerial refueling based on docking success-probability and docking reachability

机译：基于对接成功概率和对接可达性的无人机探空自主空中加油对接安全分析

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摘要

Docking safety is a key problem during the docking phase of the unmanned aerial vehicle probe-drogue autonomous aerial refueling (UAV-PD-AAR). To solve this problem, a novel and effective method based on docking success-probability and docking reachability is presented in this paper. Firstly, by employing the location of the drogue with respect to the probe, a docking success-probability estimation algorithm is proposed to give the probe-drogue docking success-probability in real time, with UAV control and drogue attitude considered. Secondly, considering UAV longitudinal dynamics, a docking reachability calculation algorithm for docking reachable set is designed to ensure the UAV can safely reach the docking target set, by using Hamilton-Jacobi equation. Finally, the docking safety algorithm during the docking phase of UAV-PD-AAR is constructed, based on the estimated docking success-probability and the calculated docking reachability. The experiments of docking success-probability estimation and docking reachability calculation were conducted, which can be used towards docking safety analysis during the docking phase of UAV-PD-AAR.
机译：在无人飞行器探空自动空中加油（UAV-PD-AAR）的对接阶段，对接安全是一个关键问题。为了解决这个问题，本文提出了一种基于对接成功概率和对接可达性的新颖有效的方法。首先，通过利用锥套相对于探头的位置，提出了一种对接成功概率估计算法，在考虑无人机控制和锥套姿态的情况下，实时给出了探头与对接的成功概率。其次，考虑到无人机的纵向动力学特性，设计了对接可到达集合的对接可到达性计算算法，以利用汉密尔顿-雅各比方程式确保无人机可以安全地到达对接目标集合。最后，基于估计的对接成功概率和计算出的对接可达性，构造了无人机-PD-AAR对接阶段的对接安全算法。进行了对接成功概率估计和对接可达性计算的实验，可用于UAV-PD-AAR对接阶段的对接安全分析。

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    Wang Xu-Feng; Li Jian-Min; Kong Xing-Wei; Dong Xin-Min; Zhang Bo;

  • 作者单位

    Air Force Engn Univ, Sch Aeronaut Engn, Xian 710038, Shaanxi, Peoples R China|Tsinghua Univ, Dept Comp Sci & Technol, State Key Lab Intelligent Technol & Syst, Tsinghua Natl Lab Informat Sci & Technol, Beijing, Peoples R China|Unit 95835 PLA, Urumqi, Peoples R China;

    Tsinghua Univ, Dept Comp Sci & Technol, State Key Lab Intelligent Technol & Syst, Tsinghua Natl Lab Informat Sci & Technol, Beijing, Peoples R China;

    Air Force Engn Univ, Sch Aeronaut Engn, Xian 710038, Shaanxi, Peoples R China;

    Air Force Engn Univ, Sch Aeronaut Engn, Xian 710038, Shaanxi, Peoples R China;

    Tsinghua Univ, Dept Comp Sci & Technol, State Key Lab Intelligent Technol & Syst, Tsinghua Natl Lab Informat Sci & Technol, Beijing, Peoples R China;

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  • 正文语种 eng
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  • 关键词

    Autonomous aerial refueling; docking safety; docking success-probability; docking reachability; probe-drogue;

    机译：自主空中加油;对接安全;对接成功概率;对接可拆卸;探针 - 醉;

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