Abstract:
A relative navigation and control scheme based on multi-camera systems(MCSs) is presented for the processes of docking and position holding in autonomous air refueling(AAR) mission using boom and receptacle system.By integrating 3D-3D pose estimation technique and perspective-N-point technique,the wide field of view and the redundant measured information of MCSs are fully utilized by the scheme.The data estimated by vision system are filtered by Kalman filtering algorithm and fused with velocity measurements to increase the accuracy and the robustness of vision navigation algorithms. To reduce the effect of wind turbulence,an optimal relative trajectory tracking control law is designed based on the theory of dynamic game.The results of simulation show that the proposed scheme can meet the requirements of aerial refueling.