| 周兆钦,赵科东,孙永荣,付宇龙,陈子豪.面向遮挡锥套的定位特征提取方法[J].电子测量与仪器学报,2024,38(7):208-216 |
| 面向遮挡锥套的定位特征提取方法 |
| Localization feature extraction method for obscured drogue |
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| DOI： |
| 中文关键词: 加油锥套 边缘提取 圆特征 迭代重加权 凸包缺陷 |
| 英文关键词:drogue edge extraction circular feature iterative reweighting convex hull defect |
| 基金项目: |
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| Author | Institution |
| Zhou Zhaoqin | National Key Laboratory of Helicopter Aeromechanics, Nanjing 210016, China |
| Zhao Kedong | National Key Laboratory of Helicopter Aeromechanics, Nanjing 210016, China |
| Sun Yongrong | National Key Laboratory of Helicopter Aeromechanics, Nanjing 210016, China |
| Fu Yulong | College of Automation
Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China |
| Chen Zihao | College of Automation
Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China |
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| 中文摘要: |
| 在自主空中加油中,锥套加油口的圆形结构常被用于辅助目标定位,然而复杂的背景干扰与插头遮挡使得圆特征提取准确性大大降低。针对背景干扰问题,设计自适应均值滤波器获取加油口质心信息,从而在更小的范围内利用图像学操作得到精确的边缘点;针对插头遮挡问题,提出基于凸包检测的离群点排除算法,增强了特征提取的抗干扰性能。在此基础上,提出基于几何距离的迭代重加权最小二乘来优化椭圆目标,进一步提高了定位圆特征的提取精度。在仿真平台上着重分析了迭代重加权最小二乘算法中K值对拟合精度与效率的影响,同时对拟合算法的精度和抗遮挡性能进行了测试,算法在无遮挡时平均误差小于0.5%,在遮挡率为50%时平均误差小于2%。最后对实际锥套进行特征提取实验,与其他经典算法相比,精度上提高了49.3%,提取误差均值为0.79%,平均处理耗时为13.9 ms,且在锥套被遮挡的特殊情况下,提取误差控制在2%以内。实验结果表明,锥套的定位特征提取方法满足自主空中加油图像处理的准确性、快速性、鲁棒性要求,能够帮助提高自主空中加油对接成功率,减少事故发生的概率。 |
| 英文摘要: |
| In autonomous aerial refueling, the circular structure of the drogue refueling port is often used to assist target positioning. Still, the complex background interference and oiled plug obscuring significantly reduce the accuracy of circular feature extraction. To address the background interference problem, an adaptive mean filter is designed to obtain the center of mass of refueling ports to obtain the accurate set of edge points in a smaller range using the imaging operation. To address the oiled plug obscuring problem, an outlier elimination algorithm based on convex hull detection is proposed to enhance the anti-interference performance of feature extraction. An iterative reweighted least squares based on geometric distance is proposed to optimize elliptic targets. On the simulation platform, the influence of K value on the fitting accuracy and efficiency of the iterative reweighted least squares algorithm is emphatically analyzed. At the same time, the accuracy and anti-occlusion performance of the fitting algorithm are tested. The average error of the algorithm is less than 0.5% when there is no occlusion and less than 2% when the occlusion rate is 50%. Finally, the feature extraction experiment of the actual drogue is carried out. Compared with other classical algorithms, the accuracy is improved by 49.3%, the average extraction error is 0.79%, the average processing time is 13.9 ms, and the extraction error is controlled within 2% under the special case that the drogue is obscured. Experimental results show that the positioning feature extraction method of drogue meets the requirements of accuracy, rapidity and robustness of image processing for autonomous aerial refueling, and can improve the success rate of autonomous aerial refueling docking and reduce the probability of accidents. |
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