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论文:2022,Vol:40,Issue(4):787-795 |
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引用本文： |
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沈嘉禾, 袁冬莉, 杨征帆, 闫建国, 肖冰, 邢小军. 基于YOLO网络的自主空中加油锥套识别方法[J]. 西北工业大学学报 |
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SHEN Jiahe, YUAN Dongli, YANG Zhengfan, YAN Jianguo, XIAO Bing, XING Xiaojun. YOLO network-based drogue recognition method for autonomous aerial refueling[J]. Northwestern polytechnical university |
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| 基于YOLO网络的自主空中加油锥套识别方法 |
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| 沈嘉禾, 袁冬莉, 杨征帆, 闫建国, 肖冰, 邢小军 |
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| 西北工业大学 自动化学院, 陕西 西安 710072 |
| 摘要: |
| 随着空中加油技术的发展,自主空中加油(autonomous aerial refueling,AAR)成为未来战场上的重要技术,是具有前瞻性和挑战性的前沿课题。受油机和锥套之间的位置关系对于AAR十分重要,故此提出一种基于神经网络的锥套图像识别方法。针对硬件要求,使用以C语言为基础的YOLO网络作为初始网络,使其符合机载操作系统VxWorks的要求,可直接在嵌入式系统上运行。针对锥套的物理特点,设计了多维度的anchor box,优化了网络结构以适应锥套的多尺寸情况。针对识别结果漂移的问题,参考金字塔结构使用了多种大小的特征图,优化了网络的损失函数。测试结果表明,经过优化设计的卷积神经网络模型在锥套图像数据集上能够更准确、更快速地识别所需目标。 |
| 关键词:
目标识别
卷积神经网络
空中加油
YOLO
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| YOLO network-based drogue recognition method for autonomous aerial refueling |
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| SHEN Jiahe, YUAN Dongli, YANG Zhengfan, YAN Jianguo, XIAO Bing, XING Xiaojun |
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| School of Automation, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| With the development of aerial refueling technology, autonomous aerial refueling(AAR) has become an important technology in the future battlefield, which is a promising prospective and challenging topic. Since the relative position between the receiver and the drogue is important to accomplish the AAR task, a neural network-based image recognition method is proposed to acquire the required information. Firstly, a C language-based YOLO network is used as the initial network, which meets the requirements of the on-board VxWorks system and can be run directly on the hardware. Then, considering the physical characterizes of the drogue, a multi-dimensional anchor box is designed and the network structure is optimized to adapt to the multi-dimensional situations. Finally, to address the problem of results shifts, feature maps with various sizes and the optimized loss function are used to optimize the network, where the pyramid structure suggests the design of feature maps. The experimental results indicate that the presented method can recognize the drogue more accurately and quickly. |
| Key words:
target recognition
convolutional neural network
aerial refueling
YOLO
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| 收稿日期: 2021-10-18
修回日期:
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| DOI: 10.1051/jnwpu/20224040787 |
| 基金项目: 陕西省自然科学基础研究计划(2020JM-123)资助 |
| 通讯作者: 袁冬莉(1966-),女,西北工业大学副教授,主要从事控制理论应用研究。e-mail:yuandongli@nwpu.edu.cn
Email：yuandongli@nwpu.edu.cn |
| 作者简介: 沈嘉禾(1997-),女,西北工业大学硕士研究生,主要从事智能控制研究。
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