一种自主空中加油视觉导航图像处理方法  

An Image Processing Method of Vision Navigation for Autonomous Aerial Refueling

作　　者：吴玲[1,2] 孙永荣 赵科东[1] WU Ling;SUN Yong-rong;ZHAO Ke-dong(Navigation Research Center,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;School of Mechatronical Engineering and Automation of Nanhang Jincheng College,Nanjing 211156,China)

机构地区：[1]南京航空航天大学导航研究中心,南京210016 [2]南京航空航天大学金城学院机电工程与自动化学院,南京211156

出　　处：《科学技术与工程》2021年第20期8552-8557,共6页Science Technology and Engineering

基　　金：国家自然科学基金(61973160);江苏省普通高校研究生科研创新计划(KYLX15_0276)。

摘　　要：针对自主空中加油近距导航问题,提出了一种锥套检测和跟踪的视觉导航图像处理方法。对于锥套检测,首先利用阈值法和数学形态学方法消除图像干扰,然后提取所有的轮廓并对轮廓进行检查,最后匹配得到目标锥套轮廓。对于锥套跟踪,以上一帧图像的定位结果作为先验信息来确定当前帧图像的可能范围,然后采用上述锥套检测方法进行处理。最后,以一架微型六旋翼飞行器作为受油机,利用自主空中加油试验台获取的真实飞行图像,对所提出的视觉导航图像处理方法进行了验证。试验结果表明:所提出的视觉导航图像处理方法具有较高的实时性及可靠性,能够满足自主空中加油的要求。In view of the problem of close navigation for autonomous aerial refueling,a visual navigation image processing method for drogue detection and tracking was proposed.For drogue detection,firstly threshold method and mathematical morphology method were used to eliminate image interference.Then,all the contours were extracted and checked.Lastly,the contour of the target drogue was matched.For drogue tracking,the positioning result of the last frame image was used as a prior information to determine the possible region of the current frame image.Then the drogue detection method was adopted again.Finally,the proposed image processing method of visual navigation was validated using real flight images.The images were captured from an autonomous aerial refueling testbed using a micro six-rotor aircraft as receiver aircraft.The experimental results show that the proposed image processing method has high real-time performance and reliability,which can meet the requirements of autonomous aerial refueling.

关 键 词：自主空中加油 锥套检测 目标跟踪 椭圆拟合 视觉导航 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]