基于视觉定位的加油杆自主对接技术研究进展  

Advances in the study of autonomous docking technology for flying boom based on visual positioning

作　　者：罗飞 高怡宁[1] 胡志勇[1] 艾俊强[1] 宋锐 LUO Fei;GAO Yining;HU Zhiyong;AI Junqiang;SONG Rui(AVIC the First Aircraft Institute,Xi’an 710089,China;School of Telecommunications Engineering,Xidian University,Xi’an 710071,China)

机构地区：[1]中航工业第一飞机设计研究院,陕西西安710089 [2]西安电子科技大学通信工程学院,陕西西安710071

出　　处：《飞行力学》2025年第1期1-9,18,共10页Flight Dynamics

基　　金：×××创新基金资助(20-163-03-27-002-003-01)。

摘　　要：基于视觉定位的加油杆自主对接技术的核心是对接阶段的高精度引导与高灵敏控制。首先,针对“硬式伸缩管自主加受油(AAR-BRR)”的近距视觉定位和控制技术,分别从目前两类图像检测技术方向和建模、控制方法与品质准则方向进行了发展现状分析,并重点分析了近些年来发展的新方法在AAR-BRR方向的技术探索。然后,对自主对接中的视觉引导与控制技术,从基于融合与滤波的算法集成和基于半物理试验和飞行试验的硬件系统集成,说明当前应用现状。最后,提出基于系统集成的近距视觉定位、基于任务特性的性能约束控制和试验与模型迭代验证的技术发展展望。该研究可为AAR-BRR软硬件驱动算法与技术方案的开发与应用提供参考。The essence of the refueling boom autonomous docking technology based on visual positio-ning is high-precision guidance and high-agility control during the docking stage.Firstly,the devel-opment status of the“boom and receptacle refueling-autonomous air refueling(AAR-BRR)”close-range visual positioning and control technology is separately analyzed from the current typeⅡimage detection technology direction,and the modeling,control method and quality criteria direction,fo-cusing on the technical exploration of new methods developed in recent years in the direction of AAR-BRR.Then,the current application status of the visual guidance and control technology for autonomous docking is described,from the aspect of the algorithm integration based on fusion and filtering as well as that of hardware system integration based on semi-physical test and flight test.Fi-nally,the technical development prospects of close-range visual positioning based on system integra-tion,performance constraint control based on task characteristics,and iterative verification of experi-ments and models are proposed.This study can provide references for the development and applica-tion of AAR-BRR software and hardware driving algorithms and technical solutions.

关 键 词：加油杆 自主对接 精确控制 视觉定位 

分 类 号：V228.17[航空宇航科学与技术—飞行器设计]