基于Kalman预测的空中加油锥套跟踪方法  

Tracking of Aerial Refueling Drogue Based on Kalman Prediction

作　　者：周晓达[1] 孙旭东[1] 邴洋海[2] 杨博文[3] 

机构地区：[1]中航工业沈阳飞机设计研究所,沈阳110035 [2]中国人民解放军驻沈阳飞机工业(集团)有限公司军事代表室,沈阳110034 [3]南京航空航天大学自动化学院,南京210016

出　　处：《数据采集与处理》2014年第6期1041-1045,共5页Journal of Data Acquisition and Processing

摘　　要：利用加油锥套的位置和尺寸信息建立Kalman滤波方程,结合加油对接过程中锥套的运动特点设置模型参数,并引入目标遮挡系数实现参数的自适应调整,对锥套的运动进行状态估计,再通过改进的霍夫梯度法采集观测值对估计值进行修正。实验结果表明,本文研究的算法在工作范围内能够实现对锥套的稳定跟踪,特别是当锥套发生部分遮挡时具有较好的持续跟踪能力,对背景变化具有较好的适应性。The information of drogue containing position and size are used to establish Kalman filter equations.The model parameters are set considering drogue′s motion features in refueling process and the object occlusion coefficient is introduced to complete the parameters′adaptive adjustment.The next-time states of moving drogue are estimated by the model and the estimation is corrected by observation.The experimental results show that the algorithm can track the drogue stably in work distances.When non-target moving objects appear in the images or the drogue is obscured,the algorithm still has the ability of continuous tracking.

关 键 词：KALMAN预测 运动锥套跟踪 自适应调整 状态估计 软式空中加油 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]