2013 11 39 11 November 2013 Journal of Beijing University of Aeronautics and Astronautics Vol 39 No 11 UAV 100191 110035 100191 UAV Unmanned Aerial Vehicle LED Light Emitting Diodes LQR Linear Quadratic Regulator TP 273 A 1001-5965 2013 11-1491-06 Hardware-in-loop simulation platform for UAV autonomous aerial refueling based on computer vision Duan Haibin Zhang Qifu Science and Technology on Aircraft Control Laboratory Beijing University of Aeronautics and Astronautics Beijing 100191 China Fan Yanming Shenyang Aircraft Design and Research Institute AVIC Shenyang 110035 China Li Hao Science and Technology on Aircraft Control Laboratory Beijing University of Aeronautics and Astronautics Beijing 100191 China Abstract A hardware-in-loop simulation platform of unmanned aerial vehicle UAV autonomous aerial refueling based on computer vision was developed Point feature matching and LHM pose estimation algorithms were adopted to the recognition of light emitting diodes LEDs on the drogue The models of atmospheric disturbances and wake vortex had been built and the drogue model was also presented Subsequently a linear quadratic regulator LQR control law for UAV was designed The hardware-in-loop simulation platform with airborne monocular camera for UAV autonomous aerial refueling had been developed in lab environment Series of hardware-in-loop experimental results demonstrate the feasibility and effectiveness of our presented approaches in this simulation platform Key words unmanned aerial vehicle UAV autonomous aerial refueling AAR computer vision linear quadratic regulator LQR wake vortex 2012-12-23 2013-10-10 16 34 www cnki net /kcms /detail /11 2625 V 20131010 1634 001 html 61333004 61273054 60975072 60604009 20115151019 2008ZC01006 20135851042 NCET-10-0021 1976 - hbduan@ buaa edu cn
1492 2013 UAV Unmanned Aerial Vehicle 1 1 LED Light E- 1 UAV mitting Diode 2 RGB Red-Green-Blue AAR Autonomous Aerial Refueling HSV Hue-Saturation-Value H UAV S V H S 3-4 7 5 LED - 5 1 2 point feature matching 8 u^ j v^j 6 p 1 p 2 p n p j = UAV u j v j p^1 p^2 p^ m p^ j = u^ j v^j p j p^ j 1 UAV m n d p^1 p 1 d p^1 p 2 d p^1 p n d p^2 p E rr = 1 d p^2 p 2 d p^2 p n 1 d p^ m p 1 d p^ m p 2 d p^ m p n UAV 1 1 1 A BS ik A i B k A B min N i = 1 N k = 1 s ikx ik N s ik = 1 k = 1 2 N 2 i = 1 N x ik = 1 i = 1 2 N 1 UAV i = 1 s ik > 0 x ik 0 1 Hungarian 1 Munkres 1 3 9 Lu Hager Mjolsness LHM k j u j v j 1 T h j k = u j v j 1 T 3 k e j
e j k = I - V j k CT T X - k T P j V j k = h j k h T j k h T j k h j k 0 0 1 4 5 x C d = Δx d Δy d Δz d Δx d Δy d Δz d T T T Δx d Δy d Δz d Δx d Δy d Δz d 11 E X - k = m j = 1 e j k 2 6 1 ~ 1 5 m UAV h^ jh T j - 1 0 h^ T j h^ j CT T TP = 0 7 j 0 0 2 2 2 h^ j = u^ j v^j 1 T 8 UAV u^ j v^j T P j 1 5 ~ 10 2 2 2 1 UAV UAV 3 UAV UAV UAV LQR Linear Quadratic Regulator UAV 1493 x d t = A d x d t + B d w g t y d t = C d x d } 9 t 0 w g t 3 2 2 2 2 UAV 2 2 1 r d 0 r = 0 MV UAV
1494 2013 LQR UAV 4 / LED UAV 4 PSO Particle Swarm Optimization UAV 10 11 PSO a 2 UAV 4 4 1 12 b 3 UAV 4 2 / AVT Manta-G125C CCD 1 292 964 4 UAV 30 /s 1 600 1 200 5 5 1 700 540 6 ~ 7 20 /s 3 5 / 1 1 600 1 200 40 30 2 ROI Region of Interest 3 OpenCV 5
11 UAV 1495 LED 0 438 6-0 000 9 12 790 3 6 20 H = 0 013 7 0 431 1 6 459 5 0 0 1 2 281 5 0 001 5-29 213 9 H inv = - 0 071 6 2 319 5-14 066 4-0 - 0 1 000 8 H S 9 6 3 284 12 0 0 3 239 06 0 0 5 2 HSV LED 7 8 a b H / c S 9 HSV H S V 0 03 0 5 0 5 11 7 a H b S 8 OpenCV c V d 11
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