仿猛禽视顶盖信息中转整合的加油目标跟踪  

Aerial refueling target tracking using a falcon visual tectum information integrating like method

作　　者：李晗 段海滨[1] 李淑宇[2] 丁希仑[3] LI Han;DUAN Haibin;LI Shuyu;DING Xilun(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100083,China;School of Biological Science and Medical Engineering,Beihang University,Beijing 100083,China;School of Mechanical Engineering and Automation,Beihang University,Beijing 100083,China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100083 [2]北京航空航天大学生物与医学工程学院,北京100083 [3]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《智能系统学报》2019年第6期1084-1091,共8页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金项目(91648205);航空科学基金项目(20185851022)

摘　　要：无人机自主空中加油是当前作战模式下非常重要的军事能力之一。空中加油对接阶段的视觉辅助导引是对接阶段导航的研究重点,而加油目标跟踪则是其中的重要一环。本文通过对猛禽优异的视觉系统与视觉导航能力的研究,发现其视觉通路中视顶盖的信息中转整合能力对于解决跟踪问题具有一定指导作用。通过对这一信息处理模式的模拟,研究了一种仿猛禽交叉通路的神经网络,并针对空中加油视觉任务中可能出现的目标丢失与再入问题,引入猛禽双中央凹扩大搜索策略,设计了一种完整的模拟猛禽视顶盖信息中转整合的目标跟踪网络。仿真实验验证了所提方法的可行性和有效性。Autonomous aerial refueling is one of the most important military capabilities under current combat situation In docking phase navigation,visual-aid guidance during the docking phase is a main research focus,of which the track-ing of refueling target is an important part and challenge.During researching on the excellent visual system and visual navigation ability of falcon,it was found that the information transfer and integration ability of the visual tectum could help to solve the tracking problem.By simulating information processing mode,constructing a neural network with cross-pathway,and introducing the target out of view and reentry problem that may occur in the aerial refueling visual task,the raptor bifovea based searching strategy is introduced to construct a complete tracking method.Simulation and experiments are done to verify the feasibility and effectiveness of the proposed method.

关 键 词：自主空中加油 猛禽视觉 视顶盖 双凹结构 目标跟踪 神经网络 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]