基于双目视觉的无人机自主空中对接系统设计  

A binocular vision-based autonomous aerial docking system design for UAVs

作　　者：付一方 胡欣悦 黄与陆 王斑[1] 黄江涛[2] FU Yifang;HU Xinyue;HUANG Yulu;WANG Ban;HUANG Jiangtao(School of Aeronautics,Northwestern Polytechnical University,Xi'an 710072,China;China Aerodynamics Research and Development Center,Mianyang 621000,China)

机构地区：[1]西北工业大学航空学院,西安710072 [2]中国空气动力研究与发展中心,绵阳621000

出　　处：《航空学报》2023年第20期52-69,共18页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(62003266);教育部中国高校产学研创新基金(2021ZYA07002)。

摘　　要：针对自主空中加油中对精度、效率和安全性要求最高的自主空中对接任务,设计了一个基于双目视觉的无人机自主空中对接系统。首先,搭建基于双目视觉和YOLOv4-Tiny网络模型的目标检测与定位模块,对不同环境下获取的锥套图像数据集进行了数据增强处理,对模块的测试结果表明其可在各种复杂环境下完成锥套识别定位,且可以将深度估计误差保持在2%以内;随后,为使对接过程中的无人机控制器能够在外界强扰动环境下兼顾控制精度和鲁棒性,在四旋翼无人机测试平台上进行了无人机动力学建模和基于干扰观测器的主动抗扰控制律设计,并对控制律设计的有效性进行仿真验证;最后,在四旋翼无人机平台上开展自主空中对接飞行实验验证,实验结果表明,设计的系统结构合理,在外界强风干扰下能够保持对接过程姿态稳定,且可以进行准确的锥套识别与定位,顺利、高效地完成无人机自主空中对接任务。In this paper,a binocular vision-based Unmanned Aerial Vehicle(UAV)autonomous aerial docking system is designed for the docking segment in autonomous aerial refueling mission,which requires high accuracy,efficiency and security.Firstly,a target detection module based on binocular vision and YOLOv4-Tiny network is proposed for target detection and position estimation,and data enhancement is performed on the drogue image dataset taken under various environments.Test results of the module indicate that it can perform drogue detection and positioning in multiple intricate circumstances,maintaining the depth estimation error within 2%.After that,to satisfy the control accuracy and robustness requirements of UAV controller during the docking process in the presence of strong external environment disturbance,dynamics-modelling and disturbance-observer based active anti-disturbance control law design is carried out on a quadcopter testing platform,and the designed control law has also been verified by simulation tests.Finally,flight experiments of autonomous aerial docking are conducted on the quadcopter testing platform.Experiments results show that the autonomous aerial docking system has a properly designed structure,which can maintain attitude stability under strong external wind disturbance,perform accurate drogue detection and positioning,and complete the docking mission successfully and efficiently.

关 键 词：自主空中加油 双目视觉 自主空中对接系统 干扰观测器 主动抗扰控制 

分 类 号：V249[航空宇航科学与技术—飞行器设计]