基于仿鹰眼视觉的无人机自主着舰导引技术研究

This project mainly focuses on solving the problem of carrier-based Unmanned Aerial Vehicle(UAV) autonomous shipboard landing under complicated dynamic environments, which is crucial for carrier-based UAV system. Firstly, a novel hierarchical framework of biologically eagle eye vision for carrier-based UAV autonomous shipboard landing is designed. The visual attention and lateral inhibition mechanisms are also investigated in depth, and the dynamic model of eagle visual perception is established. Then, the space-variant vision mechanism based on eagle eye and behavior is explored, and the task-oriented active visual processing model and scene switching method also presented, which is based on eagle eye-brain-cognition-behavior. Subsequently, the target-feature-associated matching and the time-space-associated information processing methods are further studied. Finally, a novel Heuristic Receding Horizon Control(HRHC) approach for carrier-based UAV autonomous shipboard landing is proposed. All the above techniques will be tested and verified in the integrated simulation platforms of national key laboratory of Beihang University and Shenyang Aircraft Design & Research Institute, which is significant for revealing the mechanisms of eagle eye vision, and clarify the laws of the carrier-based UAV autonomous shipboard landing and biologically eagle eye vision. This project can provide a new breakthrough direction and feasible way for carrier-based UAV autonomous shipboard landing in complicated environments, and also lay an important technical foundation for modern carrier-based UAV development.

以舰载无人机为背景，以解决复杂动态环境下的无人机自主着舰导引问题为目标，在设计并完善一种基于仿鹰眼视觉的无人机自主着舰导引分层框架基础上，探索研究鹰眼的侧抑制机制、视觉注意机制，并建立仿鹰眼视觉感知动力学模型；探索研究鹰眼-行为的空间变分辨率机制，并建立面向任务的仿鹰眼-脑-认知-行为主动视觉处理模型和大小场景切换方法，研究基于仿鹰眼视觉的目标特征关联匹配和时空关联信息处理方法，提出一种仿鹰眼视觉感知模式下基于启发式滚动时域控制的无人机自主着舰导引方法，并在国防科技重点实验室和沈阳飞机设计研究所现有的综合仿真平台上进行验证，从而对阐明仿鹰眼视觉机制、揭示仿鹰眼视觉与无人机自主着舰导引的规律有重要意义。该项目可为复杂背景环境下无人机自主着舰导引提供一个新的突破方向和一条切实可行的技术途径，同时也是现代舰载无人机系统朝着综合化、智能化和先进化发展的重要技术基础。

本项目以舰载无人机为背景，以解决复杂动态环境下的无人机自主着舰导引问题为目标，在设计并完善一种基于仿鹰眼视觉的无人机自主着舰导引分层框架基础上，探索研究鹰眼的侧抑制机制、视觉注意机制，并建立仿鹰眼视觉感知动力学模型；探索研究鹰眼-行为的空间变分辨率机制，研究基于仿鹰眼视觉的目标特征关联匹配和时空关联信息处理方法，提出基于启发式滚动时域控制的无人机自主着舰导引方法，并在仿真平台上进行验证，从而对阐明仿鹰眼视觉机制、揭示仿鹰眼视觉与无人机自主着舰导引的规律有重要意义。该项目可为复杂背景环境下无人机自主着舰导引提供一个新的突破方向和一条切实可行的技术途径，同时也是现代舰载无人机系统朝着综合化、智能化和先进化发展的重要技术基础。