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

Abstract

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.

Stewart-inspired parallel spatial docking robot: design, analysis and experimental results

“…Meanwhile, on the basis of the above space docking mechanism design, the structural optimization and compliance control of the docking mechanism are also equally important and studied (Wang et al, 2019;Dogan et al, 2008). For instance, a new six-DOF parallel mechanism which has a new "3-3"-PSS structure was designed, and a new method based on the relationship between the geometric parameters and the performance index of the manipulator was proposed, and the contour map of the performance index is established which can ensure the manipulator having both the prescribed workspace and the required performances in Nejat et al (2005).…”

“…In recent years, with the development of unmanned docking technology (Chen et al , 2020; Chen and Qiao, 2020; Qiao et al , 2022; Yang et al , 2018; Li et al , 2017; Xue et al , 2022; Li et al , 2015), people have put forward higher requirements for the accuracy and stability of unmanned docking, especially for autonomous docking of unmanned vehicles and other fields (Li et al , 2021; Chen et al , 2021; Zhao et al , 2023; Wang et al , 2021). How to quickly and accurately achieve unmanned autonomous docking of ground vehicles has become a research hot spot (Qiao et al , 2014; Chen and Qiao, 2020; Li et al , 2018; Su et al , 2021; Qiao et al , 2001; Yang et al , 2014). Considering the characteristics of high motion accuracy and fast response speed of multi degree of freedom (DOF) platform (Chen et al , 2022; Li et al , 2020; Li et al , 2020; Chen et al , 2021; Li et al , 2019), the mechanism design based on multi DOF platform is the main research direction to realize autonomous docking of unmanned aerial vehicles.…”

A Novel Two-Stage Adaptive Filtering Model-Based GNSS/INS Tightly Coupled Precise Relative Navigation Algorithm for Autonomous Aerial Refueling

“…In addition, to ensure safety and operational usefulness, the navigation strategy must provide high level of integrity. Particularly, along with UAV-tanker proximity, dynamic mobility and safety demand that the relative navigation system meets stringent requirements on accuracy, reliability, and continuity [5][6][7].…”

Safety Analysis and Simulation Validation of Hose Whipping Phenomenon in Air Refueling

“…Then, the hose cone sleeve could be affected by the wake of the tanker, the bow shock of the receiver, and the atmospheric turbulence. This shortens the time for the aircrafts to finish the docking phase, and adds to the difficulty in keeping a stable flight posture [3]. Moreover, if the tanker and receiver fly too fast, hose slack could easily occur in the docking phase, resulting in the hose whipping phenomenon (HWP).…”