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基于计算机视觉的UAV自主空中加油半物理仿真

, PP. 1491-1496

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Abstract:

设计并实现了一种基于计算机视觉的无人机(UAV,UnmannedAerialVehicle)自主空中加油仿真平台,采用点匹配与位姿估计算法对软管式加油锥发光二极管(LED,LightEmittingDiodes)标志进行识别.对大气扰动和尾涡流进行了建模,建立了加油锥模型,并设计了加油锥运动状态预估算法.在此基础上,设计了基于线性二次型调节器(LQR,LinearQuadraticRegulator)的飞行控制律.基于上述技术,在实验室环境下设计开发了基于单目机载摄像机的无人机自主空中加油半物理仿真平台.半物理试验结果表明所设计的位姿匹配算法和飞行控制律能够满足复杂环境下无人机自主空中加油的性能要求,具有较强的实时性、准确性和鲁棒性.

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