无人机自主空中加油锥套检测与定位方法

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中图分类号：V249.32 文献标志码：A DOI： 10.12305/j.issn.1001-506X.2026.03.26

Abstract：To address the issues of insufficient robustnessinrefueling drogue detectionand low relative positioning accuracy in autonomous aerial refueling misions，a near-infrared vision-based method for refueling drogue detectionand localizationis proposed.Eightnear-infraredlightemitingdiodesareinstaledontherefuelingdrogueasfeaturepoints，while acameraequipped with anear-infrared filteris deployedonthereceiver aircraft as the visionsystem.Firstly，thecaptured images of the refueling drogue are preprocessd to extract connected regions.Secondly，a shape prior-driven neighborhood search method isproposed，integratingdeeplearningapproachesfordrogue positiontrackingpredictionandeliptical feature fiting.Finally，therelative poseiscalculatedusing the perspective-n-point algorithm，folowed by fusion filtering processing.Experimentalresultsdemonstrate thatthe proposed methodachieves highdetectionsuccessrate，eficiency，and relative positioning accuracy， showing promising application prospects in practical aerial refueling missions.

Keywords：autonomous aerial refueling；visual positioning；near-infrared；refueling drogue detection；elipse fiting

0引言

空中加油是指在飞行过程中，加油机为受油机补充燃料的技术，能够显著提升飞机的起飞载重量、作战半径与续航能力，对于战场态势掌控和任务执行具有重要意义[1-6]。（剩余20569字）