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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Using Predictive Rendering as a Vision-Aided Technique for Autonomous Aerial Refueling

Using Predictive Rendering as a Vision-Aided Technique for Autonomous Aerial Refueling

Weaver, Adam D.
Air Force Institute of Technology (U S )

Paperback

Technology & EngineeringGeneral Education

ISBN10: 1249827736
ISBN13: 9781249827733
Publisher: Biblioscholar
Published: Oct 17 2012
Pages: 92
Weight: 0.31
Height: 0.19 Width: 6.14 Depth: 9.21
Language: English

This research effort seeks to characterize a vision-aided approach for an Unmanned Aerial System (UAS) to autonomously determine relative position to another aircraft in a formation, speci cally to address the autonomous aerial refueling problem. A system consisting of a monocular digital camera coupled with inertial sensors onboard the UAS is analyzed for feasibility of using this vision-aided approach. A three-dimensional rendering of the tanker aircraft is used to generate predicted images of the tanker. A rigorous error model is developed to model the relative dynamics. To quantify the errors between the predicted and true images, an image update function is developed using perturbation techniques. Based on this residual measurement and the inertial/dynamics propagation, an Extended Kalman Filter (EKF) is used to predict the relative position and orientation of the tanker from the receiver aircraft. The EKF is simulated through various formation positions during typical aerial refueling operations. Various grades of inertial sensors are simulated to analyze the system's ability to accurately and robustly track the relative position between the two aircraft.

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