中国电子科学研究院学报
中國電子科學研究院學報
중국전자과학연구원학보
JOURNAL OF CHINA ACADEMY OF ELECTRONICS AND INFORMATION TECHNOLOGY
2012年
3期
274-278,283
,共6页
王广彪%李华伟%丁文锐%李红光
王廣彪%李華偉%丁文銳%李紅光
왕엄표%리화위%정문예%리홍광
合作目标%无人机着舰%N点算法%舰船运动模型
閤作目標%無人機著艦%N點算法%艦船運動模型
합작목표%무인궤착함%N점산법%함선운동모형
cooperative object%UAV landing%N-point algorithm%ship motion model
为实现舰载无人机在做六自由度运动的航母上全天候着舰,提出了舰船运动模型下基于红外合作目标的无人机着舰视觉引导方法。首先设计了一种新型的合作目标;采用形态学算法提取合作目标,根据其位置特点进行物像点匹配,并采用N点算法求解机舰相对位姿;分析了舰船运动简化模型,并基于此模型提出了一种利用卡尔曼滤波提高导航精度的新方法,最后在VegaPrime中对该导航方法进行了仿真验证,仿真结果表明,该方法能够满足无人机着舰要求。
為實現艦載無人機在做六自由度運動的航母上全天候著艦,提齣瞭艦船運動模型下基于紅外閤作目標的無人機著艦視覺引導方法。首先設計瞭一種新型的閤作目標;採用形態學算法提取閤作目標,根據其位置特點進行物像點匹配,併採用N點算法求解機艦相對位姿;分析瞭艦船運動簡化模型,併基于此模型提齣瞭一種利用卡爾曼濾波提高導航精度的新方法,最後在VegaPrime中對該導航方法進行瞭倣真驗證,倣真結果錶明,該方法能夠滿足無人機著艦要求。
위실현함재무인궤재주륙자유도운동적항모상전천후착함,제출료함선운동모형하기우홍외합작목표적무인궤착함시각인도방법。수선설계료일충신형적합작목표;채용형태학산법제취합작목표,근거기위치특점진행물상점필배,병채용N점산법구해궤함상대위자;분석료함선운동간화모형,병기우차모형제출료일충이용잡이만려파제고도항정도적신방법,최후재VegaPrime중대해도항방법진행료방진험증,방진결과표명,해방법능구만족무인궤착함요구。
For the realization of the shipborne Unmanned Aerial Vehicles (UAV) landing to the carrier whose movement is six degrees freedom under all-weather, a method of the UAV vision-guided landing which on the basis of the infrared cooperative objects under ship motion modeling, is proposed. Firstly, a new kind of cooperative objects is designed. Then, the cooperative objects by morphology algorithm are extracted and object-image point is matched according to its location feature. The N-point algorithms are used to get the relative position of UAV and ship. In addition, the simplified model of ship motion is ana- lyzed, and a new method for improving the navigation accuracy based on the model is put forward. Final- ly, the navigation method in the Vega Prime is simulated. The simulation indicates that the presented method can meet the precision demand of UAV landing.