The invention discloses an air docking method for a fixed-wing aircraft and a rotor aircraft. The method comprises the following steps: step 1, taking a route of a fixed-wing aircraft as a docking route, and enabling a rotorcraft to be close to the docking route; step 2, the fixed-wing aircraft keeps a fixed-height minimum cruising speed, and the rotorcraft captures and recognizes a cooperative target image arranged on the fixed-wing aircraft by using a carried depth camera; the cooperative target comprises a blue outer contour with at least three angular points and an H-shaped yellow inner contour; step 3, acquiring accurate relative pose information between the two aircrafts based on the cooperative target image; and 4, according to the obtained relative pose information, the relative distance between the two aircrafts is gradually reduced, so that docking mechanisms arranged on the fixed-wing aircraft and the rotor aircraft are triggered and locked, and air docking is completed. Compared with the prior art, precise air docking of the fixed wing aircraft and the rotor aircraft can be achieved.
本发明公开了一种固定翼飞行器和旋翼飞行器的空中对接方法。该方法包括以下步骤:步骤1、以固定翼飞行器的航线为对接航线,旋翼飞行器靠近对接航线位置;步骤2、固定翼飞行器保持定高最低巡航速度,旋翼飞行器使用搭载的深度相机对设置于固定翼飞行器上的合作标靶图像进行捕捉和识别;合作标靶包括具有至少三个角点的蓝色外轮廓及“H”形黄色内轮廓;步骤3、基于合作标靶图像获取两个飞行器之间精确的相对位姿信息;步骤4、根据所获取的相对位姿信息,逐渐缩小两飞行器之间的相对距离,使得分别设置于固定翼飞行器和旋翼飞行器的对接机构实现触发并锁定,从而完成空中对接。相比现有技术,本发明可实现固定翼和旋翼飞行器的精准空中对接。
Aerial docking method for fixed-wing aircraft and rotor aircraft
固定翼飞行器和旋翼飞行器的空中对接方法
2023-02-03
Patent
Electronic Resource
Chinese