Hardware-in-loop simulation platform for UAV autonomous aerial refueling based on computer vision

A hardware-in-loop simulation platform of unmanned aerial vehicle (UAV) autonomous aerial refueling based on computer vision was developed. Point feature matching and LHM pose estimation algorithms were adopted to the recognition of light emitting diodes (LEDs) on the drogue. The models of atmospheric disturbances and wake vortex had been built, and the drogue model was also presented. Subsequently, a linear quadratic regulator (LQR) control law for UAV was designed. The hardware-in-loop simulation platform with airborne monocular camera for UAV autonomous aerial refueling had been developed in lab environment. Series of hardware-in-loop experimental results demonstrate the feasibility and effectiveness of our presented approaches in this simulation platform.