Aerospace and Electronic Systems - March 2019 - 25

Duan et al.
The solution can be achieved by using the same iteration method as what is implemented in the LHM algorithm
[15]. Figure 5 shows the flow chart of our visual measurement algorithms for AAR.

HARDWARE ARCHITECTURE

Figure 5.
Flow chart of visual measurement algorithms for AAR.

where
½ Rc

tc ¼

½ I 03Â1 ; c ¼ l
½ Rrl trl ; c ¼ r

(16)

and
Vic ¼

Rc pci ðRc pci ÞT
ðRc pci ÞT Rc pci

:

(17)

A verification platform based on two UAVs is designed as
shown in Figure 6, which mainly includes five components:
the UAVs platform, the binocular camera system, the visual
processing module, the data transmission module, and the
ground station. The tanker-UAV is a rotorcraft S1000 from
DJI technology Inc. It is equipped with a 6S 15000-mAÁh
battery that permits continuous flight for fifteen minutes
with the maximum takeoff weight about 11 kg. The
receiver-UAV is a quadrotor X650 pro from XAIRCRAFT
Technology. A human pilot can control the two UAVs to fly
via an RC transmitter. Seven red circles with the same
radius of 2 cm are affixed on the top of the cooperative
target to represent the markers. The binocular camera
system consists of two Mercury camera of Daheng
IMAVISION, with Mini USB 2.0 interface, and a resolution of 1292 Â 964 pixels, 40 field of view, and
frame rate of 30 fps.
The digitalized video signal is processed by a separated on-board mini PC, Intel NUC, and the visual algorithms are performed on it. The pose information from the
platform is then transmitted to the ground station by
a pair of XBee Modules from Digi International with
UDP protocol. The DJI Lightbridge 2.4G HD digital video
downlink is utilized to transmit the video captured by the
two cameras to the ground station. The ground station is
used to display these transmitted data. Besides, it can
provide ground operators with clear visualization during
flight tests. Figure 7 shows the outdoor AAR flight

Figure 6.
Hardware architecture of our UAV platform.

MARCH 2019

IEEE A&E SYSTEMS MAGAZINE

25

Aerospace and Electronic Systems - March 2019

Table of Contents for the Digital Edition of Aerospace and Electronic Systems - March 2019

Contents
Aerospace and Electronic Systems - March 2019 - Cover1
Aerospace and Electronic Systems - March 2019 - Cover2
Aerospace and Electronic Systems - March 2019 - Contents
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