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Design and implementation of unmanned aerial vehicle localization and light tracking system

The Journal of China Universities of Posts and Telecommunications 2023年第4期30卷 67-74页

作者： Xu Ming Dong Chen Li Hanlu Luo Qiming Wang Lizi Zhang Wanru Liu Huixin School of Digital Media and Design Arts Beijing University of Posts and TelecommunicationsBeijing 100876China School of Information and Communication Engineering Beijing University of Posts and TelecommunicationsBeijing 100876China State Key Laboratory of Networking and Switching Technology Beijing University of Posts and TelecommunicationsBeijing 100876China School of Computer Science(National Pilot Software Engineering School) Beijing University of Posts and TelecommunicationsBeijing 100876China

Unmanned aerial vehicles(UAV)are applied widely and profoundly in various fields.Moreover,high-precision positioning and tracking in multiple scenarios are the core requirements for UAV usage.To ensure stable communication of UAVs in denial environments with substantial electromagnetic interference,a systematic solution is proposed based on a deep learning algorithm for target detection and visible light for UAV tracking.Considering the cost and computational power limitations on the hardware,the you only look once(YOLO)v4-Tiny model is used for static target detection of the UAV model.For UAV tracking,and a light tracker that can adjust the angle of emitted light and focus it on the target is used for dynamic tracking processing.Thus,achieving the primary conditions of UAV optical communication with good secrecy is also suitable for dynamic situations.The UAV tracker positions the UAV model by returning the coordinates and calculating the time delay,and then controls the spotlight to target the UAV.In order to facilitate the deployment of deep learning models on hardware devices,the lighter and more efficient model is selected after comparison.The trained model can achieve 99.25%accuracy on the test set.The dynamic target detection can reach 20 frames per second(FPS)on a computer with an MX520 graphics processing unit(GPU)and 6 GB of random access memory(RAM).Dynamic target detection on a Jetson Nano can reach 5.4 FPS.

关键词： unmanned aerial vehicles deep learning light tracking target detection unmanned aerial vehicles location unmanned aerial vehicles tracking

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Special Topic Air-to-Air Docking

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Chinese Journal of Aeronautics 2024年第5期37卷 I0001-I0001页

aerial refueling has demonstrated significant benefits to aviation by extending the range and endurance of manned or unmanned aircraft.aerial capturing makes new missions and capabilities possible,like launching and retrieving Unmanned aerial Vehicles(UAVs)swarms in the air for rescue and detection.Air-to-air docking is of great importance as it can be used for aerial refueling and aerial capturing.

关键词： manned aviation aerial

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Mobility control of unmanned aerial vehicle as communication relay in airborne multi-user systems

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中国航空学报：英文版 2019年第6期32卷 1520-1529页

作者： Gaofeng WU Xiaoguang GAO Xiaowei Fu Kaifang WAN Ruohai DI School of Electronics and Information Northwestern Polytechnical University

In this paper, a model-based adaptive mobility control method for an Unmanned aerial Vehicle(UAV) acting as a communication relay is presented, which is intended to improve the network performance in airborne multi-user systems. The mobility control problem is addressed by jointly considering unknown Radio Frequency(RF) channel parameters, unknown multi-user mobility, and non-available Angle of Arrival(AoA) information of the received signal. A Kalman filter and a least-square-based estimation algorithm are used to predict the future user positions and estimate the RF channel parameters between the users and the UAV, respectively. Two different relay application cases are considered: end-to-end and multi-user communications. A line search algorithm is proposed for the former, with its stability given and proven, whereas a simplified gradient-based algorithm is proposed for the latter to provide a target relay position at each decision time step, decreasing the two-dimensional search to a one-dimensional search. Simulation results show that the proposed mobility control algorithms can drive the UAV to reach or track the optimal relay position movement, as well as improving network performance. The proposed method reflects the properties of using different metrics as objective network performance functions.

关键词： Channel estimation Gradient methods Motion control Optimization Relay Unmanned aerial vehicle Wireless networks

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Geographic,Geometrical and Semantic Reconstruction of Urban Scene from High Resolution Oblique aerial Images

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 118-130页

作者： Xiaofeng Sun Shuhan Shen Hainan Cui Lihua Hu Zhanyi Hu the Institute of Automation Chinese Academy of Sciences the School of Computer Science & Technology Taiyuan University of Science and Technology

An effective approach is proposed for 3D urban scene reconstruction in the form of point cloud with semantic labeling. Starting from high resolution oblique aerial images,our approach proceeds through three main stages: geographic reconstruction, geometrical reconstruction and semantic reconstruction. The absolute position and orientation of all the cameras relative to the real world are recovered in the geographic reconstruction stage. Then, in the geometrical reconstruction stage,an improved multi-view stereo matching method is employed to produce 3D dense points with color and normal information by taking into account the prior knowledge of aerial imagery.Finally the point cloud is classified into three classes(building,vegetation, and ground) by a rule-based hierarchical approach in the semantic reconstruction step. Experiments on complex urban scene show that our proposed 3-stage approach could generate reasonable reconstruction result robustly and efficiently.By comparing our final semantic reconstruction result with the manually labeled ground truth, classification accuracies from86.75% to 93.02% are obtained.

关键词： Oblique aerial image point cloud semantic labeling urban reconstruction

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Accuracy assessment of real-time kinematics(RTK)measurements on unmanned aerial vehicles(UAV)for direct geo-referencing

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Geo-Spatial Information Science 2020年第2期23卷 165-181页

作者： Desta Ekaso Francesco Nex Norman Kerle Department of Earth Systems Analysis ITC-Faculty of Geo-Information Science and Earth Observation of the University of TwenteEnschedeThe NetherlandsDepartment of Earth Systems AnalysisITC-Faculty of Geo-Information Science and Earth Observation of the University of TwenteEnschedeThe NetherlandsDepartment of Earth Systems AnalysisITC-Faculty of Geo-Information Science and Earth Observation of the University of TwenteEnschedeThe Netherlands

Geospatial information acquired with Unmanned aerial Vehicles(UAV)provides valuable decision-making support in many different domains,and technological advances coincide with a demand for ever more sophisticated data products.One consequence is a research and development focus on more accurately referenced images and derivatives,which has long been a weakness especially of low to medium cost UAV systems equipped with relatively inexpensive inertial measurement unit(IMU)and Global Navigation Satellite System(GNSS)receivers.This research evaluates the positional accuracy of the real-time kinematics(RTK)GNSS on the DJI Matrice 600 Pro,one of the first available and widely used UAVs with potentially surveying-grade performance.Although a very high positional accuracy of the drone itself of 2 to 3 cm is claimed by DJI,the actual accuracy of the drone RTK for positioning the images and for using it for mapping purposes without additional ground control is not known.To begin with,the actual GNSS RTK position of reference center(the physical point on the antenna)on the drone is not indicated,and uncertainty regarding this also exists among the professional user community.In this study the reference center was determined through a set of experiments using the dual frequency static Leica GNSS with RTK capability.The RTK positioning data from the drone were then used for direct georeferencing,and its results were evaluated.Test flights were carried out over a 70 x 70 m area with an altitude of 40 m above the ground,with a ground sampling distance of 1.3 cm.Evaluated against ground control points,the planimetric accuracy of direct georeferencing for the photogrammetric product ranged between 30 and 60 cm.Analysis of direct georeferencing results showed a time delay of up to 0.28 seconds between the drone GNSS RTK and camera image acquisition affecting direct georeferencing results.

关键词： UAV GNSS RTK direct georeferencing aerial triangulation lever arm offset

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A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems

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Chinese Journal of Aeronautics 2019年第1期32卷 200-214页

作者： Xilun DING Pin GUO Kun XU Yushu YU Robotics Institute Beihang University Department of Mechanics and Maritime Sciences Chalmers University of Technology

Small-scale rotorcraft unmanned robotic systems(SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years(2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem,trends, and challenges are described from three aspects. Conclusions of the paper are presented,and the future of SRURSs is discussed to enable further research interests.

关键词： aerial manipulation Mechanical structure design Modeling and control Research groups Small-scale rotorcraft unmanned aerial systems Trends and challenges

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Real-time object tracking via least squares transformation in spatial and Fourier domains for unmanned aerial vehicles

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Chinese Journal of Aeronautics 2019年第7期32卷 1716-1726页

作者： Xiaoyuan YANG Ridong ZHU Jingkai WANG Zhengze LI School of Mathematics and Systems Science Beihang University

This paper addresses the problem of real-time object tracking for unmanned aerial vehicles. We consider the task of object tracking as a classification problem. Training a good classifier always needs a huge number of samples, which is always time-consuming and not suitable for realtime applications. In this paper, we transform the large-scale least-squares problem in the spatial domain to a series of small-scale least-squares problems with constraints in the Fourier domain using the correlation filter technique. Then, this problem is efficiently solved by two stages. In the first stage, a fast method based on recursive least squares is used to solve the correlation filter problem without constraints in the Fourier domain. In the second stage, a weight matrix is constructed to prune the solution attained in the first stage to approach the constraints in the spatial domain. Then, the pruned classifier is used for tracking. To evaluate proposed tracker’s performance, comprehensive experiments are conducted on challenging aerial sequences in the UAV123 dataset. Experimental results demonstrate that proposed approach achieves a state-ofthe-art tracking performance in aerial sequences and operates at a mean speed of beyond 40 frames/s. For further analysis of proposed tracker’s robustness, extensive experiments are also performed on recent benchmarks OTB50, OTB100, and VOT2016.

关键词： Correlation filter Discrete Fourier transform Least squares Object tracking Unmanned aerial vehicle

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Natural Feature-based Visual Servoing for Grasping Target with an aerial Manipulator

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Journal of Bionic Engineering 2020年第2期17卷 215-228页

作者： Bin Luo Haoyao Chen Fengyu Quan Shiwu Zhang Yunhui Liu School of Mechanical Engineering and Automation Harbin Institute of Technology ShenzhenShenzhen 518055China Department of Precision Machinery and Precision Instrumentation University of Science and Technology of ChinaHefei 230026China Department of Mechanical and Automation Engineering Chinese University of Hong KongHong Kong 999077China

aerial transportation and manipulation have attracted increasing attention in the unmanned aerial vehicle field,and visual servoing methodology is widely used to achieve the autonomous aerial grasping of a target object.However,the existing marker-based solutions pose a challenge to the practical application of target grasping owing to the difficulty in attaching markers on targets.To address this problem,this study proposes a novel image-based visual servoing controller based on natural features instead of artificial markers.The natural features are extracted from the target images and further processed to provide servoing feature points.A six degree-of-freedom(6-DoF)aerial manipulator system is proposed with differential kinematics deduced to achieve aerial grasping.Furthermore,a controller is designed when the target object is outside a manipulator's workspace by utilizing both the degrees-of-freedom of nnmanned aerial vehicle and manipulator joints.Thereafter,a weight matrix is used as basis to develop a multi-tasking visual servoing framework to integrate the controllers inside and outside the manipulator's workspace.Lastly,experimental results are provided to verify the effectiveness of the proposed approach.

关键词： unmanned aerial manipulator visual servoing aerial grasping multi-tasking strategy

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Estimation of carbon storage based on individual tree detection in Pinus densiflora stands using a fusion of aerial photography and LiDAR data

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Science China(Life Sciences) 2010年第7期53卷 885-897页

作者： KIM So-Ra KWAK Doo-Ahn LEE Woo-Kyun SON Yowhan BAE Sang-Won KIM Choonsig YOO Seongjin Division of Environmental Science and Ecological Engineering Korea University Forest Practice Research Center Korea Forest Research Institute Departement of Forest Resources Jinju National University

The objective of this study was to estimate the carbon storage capacity of Pinus densiflora stands using remotely sensed data by combining digital aerial photography with light detection and ranging(LiDAR) data.A digital canopy model(DCM),generated from the LiDAR data,was combined with aerial photography for segmenting crowns of individual trees.To eliminate errors in over and under-segmentation,the combined image was smoothed using a Gaussian filtering method.The processed image was then segmented into individual trees using a marker-controlled watershed segmentation method.After measuring the crown area from the segmented individual trees,the individual tree diameter at breast height(DBH) was estimated using a regression function developed from the relationship observed between the field-measured DBH and crown area.The above ground biomass of individual trees could be calculated by an image-derived DBH using a regression function developed by the Korea Forest Research Institute.The carbon storage,based on individual trees,was estimated by simple multiplication using the carbon conversion index(0.5),as suggested in guidelines from the Intergovernmental Panel on Climate Change.The mean carbon storage per individual tree was estimated and then compared with the field-measured value.This study suggested that the biomass and carbon storage in a large forest area can be effectively estimated using aerial photographs and LiDAR data.

关键词： LiDAR aerial photograph region growing marker-control watershed segmentation carbon storage

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Science China(Technological Sciences) 2019年第3期62卷 490-501页

作者： YUE Ting ZHANG Qi YIN HaiPeng WANG LiXin ZHU JiangHui School of Aeronautic Science and Engineering Beihang University China Flight Test Establishment

The flight control law design for tanker should ensure that the closed-loop response can meet the aerial refueling mission requirements. In order to reveal the movement characteristics of the tanker and the handling characteristics of the pilot in aerial refueling, the flight path capture and hold under gust disturbance task is designed as the demonstration maneuver mission to evaluate the flying qualities for tanker in aerial refueling task, which is based on the design requirements of maneuvering tasks used in mission-oriented flying qualities assessment. By analyzing the flight path tracking and holding requirements of the tanker in aerial refueling mission, the relevant parameters that reflect the response characteristics of the tanker in pitch and roll axes are put forward. The ground flight simulation test based on mission-oriented flight quality assessment is conducted, and the test pilot's assessment results based on Cooper-Harper rating and PIO scales are obtained for different flight control law configurations. The suggested requirements of the closed-loop response characteristics of the pitch and roll axes of the tanker are put forward, which can be specifications for the aerial refueling mode flight control design of tanker.

关键词： aerial refueling tanker closed-loop response flight simulation test mission-oriented

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