Docking navigation method for UAV autonomous aerial refueling

  • Delin LuoEmail author
  • Jiang Shao
  • Yang Xu
  • Jinpeng Zhang
Research Paper


In this paper, a docking navigation method for autonomous aerial refueling (AAR) of unmanned aerial vehicles (UAVs) based on a binocular vision system (BVS) is proposed. A BVS simulation platform is built for simulation research purposes. First, unnecessary scene information in the image is filtered through green light-emitting diodes (LEDs) and filters. Then the image is processed via graying, binarization, and median filtering to highlight the connected area of the LED in the image. Subsequently, the center of mass of the connected area is selected as the feature point (FP), and the FPs are described using an improved Haar wavelet transform. The multidimensional description vector of FP is obtained and matched. Finally, the position and pose of the refueling cone sleeve are estimated. Simulation results show the effectiveness of the presented AAR navigation method.


autonomous aerial refueling AAR position and pose estimation improved Haar wavelet transform IHWT binocular vision system BVS BVS simulation platform 



This work was supported by National Natural Science Foundation of China (Grant No. 61673327) and Aeronautical Science Foundation of China (Grant No. 20160168001).


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Copyright information

© Science China Press and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Delin Luo
    • 1
    Email author
  • Jiang Shao
    • 1
  • Yang Xu
    • 1
  • Jinpeng Zhang
    • 2
    • 3
  1. 1.School of Aerospace EngineeringXiamen UniversityXiamenChina
  2. 2.China Airborne Missile AcademyLuoyangChina
  3. 3.Aviation Key Laboratory of Science Technology on Airborne Guided WeaponLuoyangChina

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