本发明公开了一种用于自主空中加油对接的组合导航系统和方法,该方法为一种自主空中加油对接过程中受油机与锥套的相对位姿估计方法。首先计算出加油机和受油机的相关状态,然后计算锥套和连接点的相关状态,最后通过上述两个计算出来的状态值,获得受油口和锥套的状态值,该方法使得“油找机”这一新空中加油方式成为可能。该方法采用多传感器融合的方法,间接得到受油机受油管到加油机锥套的相对位置、速度、姿态信息,从而得到比任何单一传感器更加精确的目标测量信息。
The invention discloses an integrated navigation system and method for autonomous air refueling docking. The method is a method for estimating the relative pose of a fuel receiver and a taper sleeve in the autonomous air refueling docking process. According to the method, the related states of the oiling machine and the oil receiving machine are firstly calculated, then the related states of the taper sleeve and the connecting point are calculated, finally, the state values of the oil receiving opening and the taper sleeve are obtained through the two calculated state values, and the new air oiling mode of finding the machine from oil becomes possible through the method. According to the method, a multi-sensor fusion method is adopted to indirectly obtain relative position, speed and attitude information from an oil receiving pipe of an oil receiving machine to a taper sleeve of an oiling machine, so that target measurement information which is more accurate than that of any single sensor is obtained.
一种用于自主空中加油对接的组合导航系统和方法
2024-05-07
Patent
Electronic Resource
Chinese