Vision‐only control and guidance for aircraft
Vision‐only control and guidance for aircraft
复制标题
飞机的纯视觉控制和制导
DOI：
10.1002/rob.20155
复制
发表时间：
2006
影响因子：
8.3
通讯作者：
Thomas B. Apker
中科院分区：
文献类型：
--
作者：
A. Proctor;Eric N. Johnson;Thomas B. Apker
无人驾驶飞行器通常携带一系列传感器，其输出用于估计飞行器的姿态、速度和位置。本文详细介绍了滑翔机的制导，导航和控制策略的发展，这是能够飞行的终端轨迹到一个已知的固定对象，只使用一个单一的视觉传感器。仅使用视觉控制飞机提出了两个独特的挑战：第一，绝对状态测量无法从单个图像中获得;第二，必须以高速率收集和处理图像以实现所需的控制器性能。图像处理器利用积分图像表示和拒绝级联滤波器来查找和分类图像中的简单特征，将图像减少到目标对象的最可能像素位置。然后，扩展卡尔曼滤波器使用从单个图像获得的测量来估计否则在单个图像中不可观察的状态。在这项研究中，航班被约束，以保持目的地对象的看法。通过仿真验证了该方法的有效性。最后，来自滑翔机的自主飞行的实验数据，仅用一个安装在鼻子上的摄像机进行测量，在短低空飞行期间拦截目标窗口。© 2006 Wiley Periodicals，Inc.
An unmanned aerial vehicle usually carries an array of sensors whose output is used to estimate vehicle attitude, velocity, and position. This paper details the development of guidance, navigation, and control strategies for a glider, which is capable of flying a terminal trajectory to a known fixed object using only a single vision sensor. Controlling an aircraft using only vision presents two unique challenges: First, absolute state measurements are not available from a single image; and second, the images must be collected and processed at a high rate to achieve the desired controller performance. The image processor utilizes an integral image representation and a rejective cascade filter to find and classify simple features in the images, reducing the image to the most probable pixel location of the destination object. Then, an extended Kalman filter uses measurements obtained from a single image to estimate the states that would otherwise be unobservable in a single image. In this research, the flights are constrained to keep the destination object in view. The approach is validated through simulation. Finally, experimental data from autonomous flights of a glider, instrumented only with a single nose‐mounted camera, intercepting a target window during short low‐level flights, are presented. © 2006 Wiley Periodicals, Inc.