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A novel method for measuring drogue-UAV relative pose in autonomous aerial refueling based on monocular vision

文献类型：期刊论文

作者Ma, Yuebo1,2; Zhao, Rujin1; Liu, Enhai1; Zhang, Zhuang1,2; Yan, Kun1
刊名IEEE Access
出版日期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
DOI10.1109/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
WOS记录号WOS:000498813700008
出版者Institute of Electrical and Electronics Engineers Inc.
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.

入库方式： OAI收割

来源：光电技术研究所

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