舰载无人直升机自主着舰环境感知与位姿估计方法研究

项目名称： 舰载无人直升机自主着舰环境感知与位姿估计方法研究

项目编号： No.61773395

项目类型： 面上项目

立项/批准年度： 2018

项目学科： 自动化学科

项目作者： 石章松

作者单位： 中国人民解放军海军工程大学

项目金额： 16万元

中文摘要： 针对舰载无人直升机在自主着舰中面临的环境感知与位姿估计难题，为丰富环境表示模型、提升无人直升机的环境感知能力与位姿估计精度，展开无人直升机自主着舰中的环境感知与相对位姿估计方法研究，主要内容包括：（1）首先进行融合度量信息和语义信息的着舰环境统一表示模型构建研究，构建出既包含底层度量信息、又具有高层语义信息的着舰环境统一表示模型；（2）以环境统一表示模型为环境感知框架，开展融合GPS/IMU/视觉的舰载无人直升机环境感知与相对位姿估计方法的研究，构建基于多维状态量约束Kalman滤波器的环境感知与位姿估计处理框架以及渐进量测更新的多传感器信息非线性滤波模型。研究成果实现无人直升机自主着舰问题中复杂环境感知与相对位姿估计相关理论与算法的突破，既能满足军事领域越来越高的能力需求，也能提升民用领域无人直升机的自主化能力，具有较大的理论研究与实际应用价值。

中文关键词： 多传感器信息融合；环境感知；位姿估计；不确定性分析

英文摘要： Aiming at difficulties and challenges in the process of environmental perception and pose estimation of carrier-based unmanned helicopter autonomous carrier landing, in order to enrich the representation model of environment, enhance the ability of environmental perception and pose estimation, the method of environment perception and pose estimation method for carrier-based unmanned helicopter autonomous carrier landing will be studied. The main contents include:(1)firstly, the research on the construction of the semantic representation model of the ship's landing environment including the metric information will be presented, and the uniform representation model of the ship environment will be constructed, which includes the bottom level information and the high-level semantic information;(2)on these basis , study on the estimation methods with integration GPS/IMU/ vision integration on unmanned shipboard helicopter environmental perception and pose will be carried out, the environmental perception and pose estimation process framework based on multi-state constraint Kalman filter would be established, and the nonlinear filter for multi-sensor fusion with progressive measurement update would be proposed. The research content will achieve breakthrough on autonomous landing of unmanned helicopter and algorithm of complex environment perception and pose estimation problems, which can meet the military field more and more high capacity requirements, but also can enhance the autonomous ability of civil unmanned helicopter, has important theory research and practical application value.

英文关键词： Multisensor Information Fusion;environmental perception;pose estimation;uncertainty analysis