基于近红外的自主空中加油相对位置解算  

Relative Position Calculation Based on Near-infrared for Autonomous Aerial Refueling

作　　者：宋春华[1] 赵建涛[1] 刘虎成[1] 程咏梅[1] 

机构地区：[1]西北工业大学,自动化学院,陕西西安710072

出　　处：《电力电子技术》2013年第1期41-43,共3页Power Electronics

基　　金：航空科学基金(20100853010)~~

摘　　要：无人机(UAV)高空加油在受油口和加油锥套对接过程中,需在全天时和全天候下自主完成高精度的相对位置解算。由于近红外图像兼顾分辨率高及抗环境干扰能力强的优点,因此提出UAV自主空中软管式加油近红外相对位置解算方法。将4个850 nm波段近红外LED灯均匀布置在锥套内环,与850 nm带通滤镜和罗技C310摄像头一起构成视觉相对位置解算系统。首先进行锥套近红外成像,然后通过阈值分割、特征点检测和圆拟合实现锥套检测,进一步完成受油口与加油锥套相对位置解算。通过不同天气环境、不同角度、不同距离下的实验进行了算法性能验证,并给出了算法的适用范围,为工程应用提供借鉴。In the probe and drogue docking process for the unmanned aerial vehicle（UAV）aerial refueling,an autonomous, all-time,all-weather and high-precision relative position calculation technology is needed.Because of nearinfrared images have the advantages of high resolution and the ability of anti-environmental interference,a near-infrared relative position calculation method is presented for the UAV aerial hose refueling.Relative position calculation system based on the vision is constituted with four 850 nm band near-infrared LED lights arranged uniformly in inner ring of the drogue,the 850 nm band-pass filter and the Logitech C310 camera.Firstly the near-infrared images of the drogue is got.Then the drogue is detected by the threshold segmentation,feature points detection and the circle fitting algorithm.Finally relative position between the probe and drogue is calculated.Performance of the algorithm is verified by experiments under different weather conditions,different angles and different distances.Finally,the scope of application of the algorithm is given to provide a reference for engineering applications.

关 键 词：无人机 自主空中加油 近红外 相对位置解算 

分 类 号：E926.3[军事—军事装备学]