Autonomous aerial refueling for UAVs using a combined GPS-machine vision guidance
G Campa, ML Fravolini, A Ficola… - … Navigation, and Control …, 2004 - arc.aiaa.org
AIAA Guidance, Navigation, and Control Conference and Exhibit, 2004•arc.aiaa.org
The most important factors affecting the performance of a control scheme for Autonomous
Aerial Refueling (AAR) for UAVs are the magnitude of the wake effects from the Tanker and
the accuracy of the measurements of the UAV-Tanker distance and attitude leading to the
docking. The main objective of the effort described in this paper is the implementation of a
detailed modeling and simulation environment for evaluating the AAR problem. In particular,
a specific control scheme based on a sensor fusion between GPS-based and Machine …
Aerial Refueling (AAR) for UAVs are the magnitude of the wake effects from the Tanker and
the accuracy of the measurements of the UAV-Tanker distance and attitude leading to the
docking. The main objective of the effort described in this paper is the implementation of a
detailed modeling and simulation environment for evaluating the AAR problem. In particular,
a specific control scheme based on a sensor fusion between GPS-based and Machine …
Abstract
The most important factors affecting the performance of a control scheme for Autonomous Aerial Refueling (AAR) for UAVs are the magnitude of the wake effects from the Tanker and the accuracy of the measurements of the UAV-Tanker distance and attitude leading to the docking. The main objective of the effort described in this paper is the implementation of a detailed modeling and simulation environment for evaluating the AAR problem. In particular, a specific control scheme based on a sensor fusion between GPS-based and Machine Vision-based measurements is proposed. Furthermore, the iterative algorithm used for estimating the position of the optical markers has been modified to be robust to a loss of visibility by one or more optical markers during the docking sequence. The paper presents the results of a detailed analysis of the AAR under different scenarios.
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