Aspects of the present disclosure provide fuel receptor position estimation (derived from aircraft position estimation) for air refueling. A video stream comprising a plurality of video frames is received from a single camera, each video frame showing an aircraft to be fueled. An initial position estimate for the aircraft is determined for the plurality of video frames, generating an estimated flight history for the aircraft. An estimated flight history of an aircraft is used to determine a time-consistent precise position estimate based on a known aircraft flight path trajectory in an air refueling setting. The position of the fuel receptacle on the aircraft is determined based on the precise position estimate of the aircraft, and the aerial refueling boom may be controlled to engage the fuel receptacle. These examples may use a deep learning neural network (NN) or an optimization program (e.g., bundling adjustment) to determine a precise position estimate from an estimated flight history.
本公开的各方面提供用于空中加油的燃料接受器位置估计(源自飞行器位置估计)。从单个相机接收包括多个视频帧的视频流,每个视频帧示出待加油的飞行器。确定多个视频帧的飞行器的初始位置估计,生成飞行器的估计飞行历史。飞行器的估计飞行历史用于基于空中加油设置中已知的飞行器飞行路径轨迹来确定时间一致的精确位置估计。基于飞行器的精确位置估计来确定飞行器上的燃料接受器的位置,并且可以控制空中加油吊杆以接合燃料接受器。这些实例可以使用深度学习神经网络(NN)或优化程序(例如,集束调整)以从估计飞行历史中确定精确位置估计。
Time-consistent location estimation accuracy for air refueling
用于空中加油的时间一致的位置估计精确
2023-07-07
Patent
Electronic Resource
Chinese
TEMPORALLY CONSISTENT POSITION ESTIMATION REFINEMENT FOR AERIAL REFUELING
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