English

应用科学学报 ›› 2012, Vol. 30 ›› Issue (4): 427-432.doi: 10.3969/j.issn.0255-8297.2012.04.016

• 控制与系统 • 上一篇    下一篇

无人机空中加油相对位姿解耦迭代确定算法

王龙1， 董新民1， 贾海燕2   

  1. 1. 空军工程大学工程学院，西安710038
    2. 中国人民解放军93942 部队，陕西咸阳712000
  • 收稿日期:2011-08-15 修回日期:2012-03-06 出版日期:2012-07-23 发布日期:2012-07-30
  • 作者简介:王龙，博士生，研究方向：自主空中加油视觉相对导航、组合导航、数据融合等，E-mail: afeu78@126.com；董新民，教授，博导，研究方向：飞行器控制理论与应用、智能控制等，E-mail: dongxinmin@163.com
  • 基金资助:

    航空科学基金(No.2008ZC01006, No.20110896009)资助

Relative Pose Decoupled Iterative Determination Algorithm for UAV Aerial Refueling

WANG Long1, DONG Xin-min1, JIA Hai-yan2   

  1. 1. Engineering College, Air Force Engineering University, Xi’an 710038, China
    2. Unit 93942, People’s Liberation Army, Xianyang 712000, Shaanxi Province, China
  • Received:2011-08-15 Revised:2012-03-06 Online:2012-07-23 Published:2012-07-30

PDF

1043

被引次数

4

摘要：

 针对视线方程中位置和姿态信息存在严重耦合及强非线性的问题，研究了一种相对位姿解耦迭代确定算法，并用于无人机空中加油. 根据卫星导航中的伪距概念，利用视线矢量构建观测矩阵，通过最小二乘法求解相对位置更新，进而更新伪距确定相对姿态. 引入单步迭代误差证明了算法的收敛性，通过分析误差协方差阵的迹讨论
特征点几何构型对相对位置确定精度的影响. 仿真结果表明，与高斯最小二乘微分修正算法相比，提出的算法运行速度和抗噪声性能分别提高了23%和40%，相对位置稳态误差优于0.1 m，相对姿态误差优于0.5±，满足无人机空中加油对接阶段相对位姿测量精度要求.

关键词: 空中加油, 相对位姿, 视线, 解耦迭代

Abstract:

 Considering the coupled and nonlinear relationship between the relative pose in the line of sight
equations, an iterative decoupling algorithm is proposed to determine relative pose. Application of the method
to aerial refueling is discussed. Based on the pseudo-range of satellite navigation, an observation matrix is
constructed by using line of sight vectors. The relative position are updated by the least square method, and
then the relative attitude is updated. By introducing an iterative error, convergence of the iterative algorithm
is proved. The trace of error variance matrix is used to analyze the effect of feature geometry configuration
on the precision. Simulation results show that the proposed algorithm can improve performance by 23% and
40% in speed and robustness than Gaussian least square differential correction (GLSDC), respectively. Steady
state errors of relative pose are 0.1 m and 0.2± lower respectively. The precisio can satisfy the relative pose
requirements of UAV aerial refueling during docking.

Key words:  aerial refueling, relative pose, line of sight, decoupled iterative

中图分类号: