Real-time drogue recognition and 3D locating for UAV autonomous aerial refueling based on monocular machine vision

Wang, Xu Feng; Xingwei, Kong; Zhi, Jianhui; Chen, Yong; Dong, Xinmin

doi:10.1016/j.cja.2015.10.006

Cited by 37 publications

(23 citation statements)

References 15 publications

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“…1–7 Considering the economy and flexibility, much attention has been paid to UAV probe-drogue autonomous aerial refueling (UAV-PD-AAR). 8–24 The docking phase of UAV-PD-AAR will be considered exclusively in this research.…”

Section: Introductionmentioning

confidence: 99%

Towards docking safety analysis for unmanned aerial vehicle probe-drogue autonomous aerial refueling based on docking success-probability and docking reachability

Wang

Xingwei

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part G:

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Docking safety is a key problem during the docking phase of the unmanned aerial vehicle probe-drogue autonomous aerial refueling (UAV-PD-AAR). To solve this problem, a novel and effective method based on docking success-probability and docking reachability is presented in this paper. Firstly, by employing the location of the drogue with respect to the probe, a docking success-probability estimation algorithm is proposed to give the probe-drogue docking success-probability in real time, with UAV control and drogue attitude considered. Secondly, considering UAV longitudinal dynamics, a docking reachability calculation algorithm for docking reachable set is designed to ensure the UAV can safely reach the docking target set, by using Hamilton–Jacobi equation. Finally, the docking safety algorithm during the docking phase of UAV-PD-AAR is constructed, based on the estimated docking success-probability and the calculated docking reachability. The experiments of docking success-probability estimation and docking reachability calculation were conducted, which can be used towards docking safety analysis during the docking phase of UAV-PD-AAR.

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Section: Introductionmentioning

confidence: 99%

Towards docking safety analysis for unmanned aerial vehicle probe-drogue autonomous aerial refueling based on docking success-probability and docking reachability

Wang

Xingwei

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…The disturbance, such as atmospheric turbulence and tanker wave, can lead to drogue lateral and vertical displacement [6,14,22,23]. A NASA flight test approach to an aerial refueling system indicates that the drogue randomly meanders in the lateral and vertical displacement by as much as the drogue diameter (approximately 61 cm), where the atmospheric turbulence is considered, during the docking phase of PDARS [22].…”

Section: Remarkmentioning

confidence: 99%

“…Note that the theory, experiment, and precision of drogue attitude measurement have been described in our previous work [6] in detail. So, in this study, we assume that accurate parameters, such as the pitch angle and yaw angle of the drogue, can be obtained precisely.…”

Section: Considering the Relative Attitude Of Probe-drogue Formentioning

confidence: 99%

“…Note that a successful docking for probe-drogue aerial refueling is not only dependent on the movement of the drogue center, but also related to accurate measurements for the parameters between probe and the drogue and the control of UAV. Firstly, the theory, experiment, and measurement precision of drogue location and attitude have been described in our previous work [6] in detail. So, in this study, we assume that accurate parameters of the drogue can be obtained precisely.…”

Section: Considering the Accurate Measurements And Uav Controlmentioning

confidence: 99%

“…Due to the shaking movement caused by the disturbance during the docking process of PDARS, the PDARS test and assessment are a complex task. The relative position and attitude between the probe and the drogue during the PDARS docking stage was studied in [6][7][8][9][10], and the relative position between the probe and the drogue was obtained accurately by the detection and recognition of the drogue. The hose-drogue movement of the PDARS during the aerial refueling process was analyzed in [11,12].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An Approach to Mathematical Modeling and Estimation of Probe-Drogue Docking Success Probability for UAV Autonomous Aerial Refueling

Wang

Xingwei

et al. 2017

International Journal of Aerospace Engineering

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One of the keys to the success of aerial refueling for probe-drogue aerial refueling system (PDARS) is the successful docking between the probe and drogue. The study of probe-drogue docking success probability offers an important support to achieving successful docking. During the docking phase of PDARS, based on prior information and reasonable assumptions for the movements of the drogue under atmospheric disturbance, the probe-drogue docking success probability is converted to the probability of the drogue center located in a specific area. A model of the probe-drogue docking success probability is established with and without actuation error, respectively. The curves of the probe-drogue docking success probability with the standard deviation of the drogue central position, the maximum distance from the drogue center position to the equilibrium position, the actuation error, and the standard deviation of the actuation error are obtained through simulations. The study has referential value for the docking maneuver decision of aerial refueling for PDARS.

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Using a run time assurance approach for certifying autonomy within naval aviation

Costello

2023

Systems Engineering

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The methods and procedures within United States naval aviation to certify an aircraft safe for flight are well established. However, these methods and procedures are based on clearing a system that is operated or monitored by a human. A fully autonomous system will not have a human in or on the loop and will therefore require a new method for certifying it safe for flight. This paper details how to use run time assurance as the framework for a safety of flight certification of autonomous behavior within United States naval aviation. We present an aerial refueling task with run time assurance as use case for the framework for certification. Within the use case we then give more details on the mechanics of using RTA to enable autonomous functionality within naval aviation.

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Real-time drogue recognition and 3D locating for UAV autonomous aerial refueling based on monocular machine vision

Cited by 37 publications

References 15 publications

Towards docking safety analysis for unmanned aerial vehicle probe-drogue autonomous aerial refueling based on docking success-probability and docking reachability

Towards docking safety analysis for unmanned aerial vehicle probe-drogue autonomous aerial refueling based on docking success-probability and docking reachability

An Approach to Mathematical Modeling and Estimation of Probe-Drogue Docking Success Probability for UAV Autonomous Aerial Refueling

Using a run time assurance approach for certifying autonomy within naval aviation

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