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针对伸缩套管方式下自主空中加油(AAR)对接与位置保持过程,提出了一个基于多摄像机系统(MCS)的相对导航与控制方案.该方案中的位姿估计算法通过结合3D-3D位姿估计技术和N点透视技术,能够充分利用多摄像机系统的宽视野和冗余测量信息.使用卡尔曼滤波算法对视觉估计数据进行滤波,并与速度测量数据进行融合,以提高视觉导航算法的精度和鲁棒性.为抑制外部风扰动,设计了一个基于动态对策理论的最优相对轨迹跟踪控制律.仿真结果表明提出的方案能够满足空中加油要求.
A relative navigation and control scheme based on multi-camera system (MCS) is proposed for the docking and position keeping of autonomous air refueling (AAR) under the telescopic casing mode. The pose estimation algorithm in this scheme combines the pose of 3D-3D Estimation technology and N-point perspective technology to take full advantage of the wide-field and redundant measurement information of multi-camera system.Using Kalman filter algorithm to filter the visual estimation data and fuse with the velocity measurement data to improve the accuracy of visual navigation algorithm And robustness.In order to restrain the external wind disturbance, an optimal relative trajectory tracking control law based on dynamic game theory is designed.The simulation results show that the proposed scheme can meet the air refueling requirements.