摄像机视场约束下无人机视觉着舰导引方法  

A Visual Guidance Method for Carrier Landing of a UAV Under Camera Field-of-View Constraint

作　　者：祝子程 王彪[1] 唐超颖[1] 徐贵力[1] ZHU Zicheng;WANG Biao;TANG Chaoying;XU Guili(Nanjing University of Aeronautics and Astronautics,Nanjing 211000,China)

机构地区：[1]南京航空航天大学,南京211000

出　　处：《电光与控制》2024年第3期30-35,57,共7页Electronics Optics & Control

基　　金：国家自然科学基金(62073161)。

摘　　要：无人机基于计算机视觉技术进行着舰时,既需要关注自身的飞行轨迹是否合理,也需要注意所对应的视觉特征点在图像空间中的运动是否合理,即需要满足机载摄像机视场等约束。此外,由于海洋风浪等扰动作用,很难整定出合适的参数使视觉特征点以期望的轨迹运动,并使得图像误差以期望的动态过程收敛。针对这些问题,设计了一种将基于tau耦合策略的轨迹规划与IBVS相容的视觉导引方法,同时引入PPC理论以直接描述图像误差收敛的动态过程,并赋予参数整定工作明确直观的物理意义,从而降低参数整定的难度。最后仿真验证了所研究成果的可行性和有效性。When a UAV is about to land on the deck of a carrier based on computer vision technology,it is necessary to consider whether its flight tnjectory is reasonable and whether the motion of corresponding visual feature points in the image space is reasonable,which means the feature points should be in the field of view of the airborne camera.In addition,due to the influence of extermal disturbances such as sea wind and waves,it is difficult to obtain suitable parameters to make the visual feature points move along the desired trajectory and make the image errors converge in a desired dynamic process.To solve these problems,a visual guidance method is designed,which makes the trajectory planning based on the stralegy of tau coupling compatible with Image-Based Visual Servoing(IBVS).Meanwhile,Prescribed Performance Control(PPC)theory is introduced to explicitly describe the dynamic process of image error convergence,and to endow parameter tuning with an explicit physical meaning,thereby reducing the difficulty of parameter tuning.Finally,the feasibility and effectiveness of the proposed method are verified by the simulation experiments.

关 键 词：无人机 着舰 tau耦合策略 IBVS PPC 视觉导引 视场约束 

分 类 号：V249[航空宇航科学与技术—飞行器设计]