Control and Robust Vision Relative Navigation for Autonomous Aerial Refueling
A relative navigation and control scheme based on multiple camera systems was presented for autonomous operations in close proximity for autonomous air refueling (AAR) mission. The relative navigation system employed non-iterative fast global optimal pose estimation algorithm, and the result was filtered and fused with velocity’s measurements to increase accuracy and robustness by using Kalman filtering algorithm. To attenuate effect of tanker’s vortex and atmospheric turbulence, an H-infinity tracking control law was designed for docking phase of air refueling. Simulation results showed that accuracy of both vision navigation system and trajectory tracking could meet requirements of aerial refueling.
J. Guo et al., "Control and Robust Vision Relative Navigation for Autonomous Aerial Refueling", Advanced Materials Research, Vols. 383-390, pp. 1953-1959, 2012