A novel method for measuring drogue-UAV relative pose in autonomous aerial refueling based on monocular vision | |
Ma, Yuebo1,2; Zhao, Rujin1; Liu, Enhai1; Zhang, Zhuang1,2; Yan, Kun1 | |
刊名 | IEEE Access |
2019 | |
卷号 | 7页码:139653-139667 |
关键词 | Autonomous aerial refueling pose measurement monocular vision structural feature extraction UAV |
ISSN号 | 2169-3536 |
DOI | 10.1109/ACCESS.2019.2943514 |
文献子类 | 期刊论文 |
英文摘要 | The key to the docking phase of autonomous aerial refueling missions is the relative pose measurement between the drogue and unmanned aerial vehicles. A novel measurement method for drogue-UAV (unmanned aerial vehicle) relative poses based on monocular vision is proposed in this paper. An adaptive arc-level structural feature extraction algorithm is applied to obtain the features that can be used for the measurements. In this algorithm, the projection of the end plane of the drogue in the image plane is accurately extracted based on an extraction quality metric. The projection contour and centroid of the internal black part of the drogue form the structural feature for the measurements. A robust pose estimation algorithm is presented to estimate the relative pose between the drogue and the UAV. The pose can be solved using a cone that is composed of the optical center of the camera and the structural feature. A Kalman filter is then applied to robustly estimate the pose of the drogue. A simulation and ground experiment are used to verify the robustness and effectiveness of the proposed method, which achieves good performance compared with other methods. © 2019 Institute of Electrical and Electronics Engineers Inc. All rights reserved. |
WOS关键词 | VISUAL MEASUREMENT ; NAVIGATION ; SYSTEM ; CALIBRATION ; CAMERA |
WOS研究方向 | Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications |
语种 | 英语 |
出版者 | Institute of Electrical and Electronics Engineers Inc. |
WOS记录号 | WOS:000498813700008 |
内容类型 | 期刊论文 |
源URL | [http://ir.ioe.ac.cn/handle/181551/9690] |
专题 | 空天部 |
作者单位 | 1.Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu; 610209, China; 2.University of Chinese Academy of Sciences, Beijing; 100149, China |
推荐引用方式 GB/T 7714 | Ma, Yuebo,Zhao, Rujin,Liu, Enhai,et al. A novel method for measuring drogue-UAV relative pose in autonomous aerial refueling based on monocular vision[J]. IEEE Access,2019,7:139653-139667. |
APA | Ma, Yuebo,Zhao, Rujin,Liu, Enhai,Zhang, Zhuang,&Yan, Kun.(2019).A novel method for measuring drogue-UAV relative pose in autonomous aerial refueling based on monocular vision.IEEE Access,7,139653-139667. |
MLA | Ma, Yuebo,et al."A novel method for measuring drogue-UAV relative pose in autonomous aerial refueling based on monocular vision".IEEE Access 7(2019):139653-139667. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论