Autonomic aerial refueling butt joint simulate visual navigation control system and method

Abstract

The invention provides an autonomic aerial refueling butt joint simulate visual navigation control system and method. The system comprises an oiling / oil receiver aircraft bottom layer control module,a multi-interference hose, a taper sleeve stability control module, an enabling and selecting module, a near vision relative navigation module and a receiver aircraft relative location accuracy control module. The method includes the steps that 1, the oil receiver aircraft, the hose, the taper sleeve, and the multi-interference of wind are modeling, an original state is produced; 2, location of the taper sleeve is controlled stably; 3, relative locations of the oiling aircraft and the oil receiver aircraft are calculated, visual enable is judged; 4, relative location is controlled accurately;5, navigation method selection is conducted by using eagle eye color vision; 6, all signalized points of the taper sleeve detect normal near visual navigation; 7, near visual navigation is conductedunder the condition of the taper sleeve is in a long distance or partial signalized points are covered; 8, GPS signals or visual navigation signals are selected to control and control of visual navigation is designed; and 9, whether butt joint is successful or not is judged.

Description

technical field [0001] The invention relates to a bionic visual navigation control system and method for autonomous aerial refueling and docking, belonging to the field of unmanned aerial vehicle navigation and control. Background technique [0002] Autonomous aerial refueling (Autonomous Aerial Refueling, AAR) technology is an effective way to improve the performance of UAVs by solving the shortcomings of UAVs in terms of load and endurance. AAR technology can significantly improve the UAV's endurance. The task execution capability of UAVs improves the autonomy of UAVs. [0003] Soft autonomous aerial refueling is mainly divided into four stages: rendezvous, docking, refueling, and separation. Compared with other stages, the docking stage of soft aerial refueling faces the most complicated situation, and has the highest and most difficult requirements on the navigation and control system. In the docking stage of soft autonomous aerial refueling, it is necessary not only to...

AI Technical Summary

Problems solved by technology

In view of the fact that visual navigation can meet the pose measurement requirements during the swinging process of the refueling drogue under windy interference, and has a close fit with the stability, accuracy, and anti-interference requirements of short-distance relative navigation in the docking stage, the present invention proposes An autonomous aerial refueling docking bionic visual navigation control system and its method are proposed to solve the deficiencies in the existing soft autonomous aerial refueling docking phase of the accurate measurement of the drogue sleeve position and precise control of the position of the oil receiver, and to promote the soft autonomous aerial refueling The short-distance grounding is successfully realized, effectively improving the autonomy of the UAV

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