无人机激光无线能量传输捕获、瞄准、跟踪(APT)系统是系统接收端获得稳定能源的保障。为了解决能量传输过程中充电链路高效可靠的问题, 结合无人机激光能量传输系统特点及实际需求, 在设计中建立自适应感兴趣区域, 提高图像处理速度, 降低噪声, 准确提取目标坐标; 综合考虑多重误差后通过Kalman预测算法实现稳定跟踪, 并根据系统特点提出了系统功率传输效率的计算方案。结果表明, 当无人机飞行速率在18km/h内, 该APT系统能够在300m~500m距离准确跟踪无人机, 跟踪精度在320μrad内。该方案能够保证激光能量传输过程的跟踪精度与可靠性。

The acquisition, pointing and tracking (APT) system of laser wireless energy transfer for unmanned aerial vehicles (UAV) is the guarantee of stable energy at the receiving end of the system. In order to solve the problem of high efficiency and reliability of charging link in energy transmission process, considering the characteristics and practical requirements of UAV laser energy transmission system, an adaptive region of interest was established in the design for improving image processing speed, reducing noise and accurately extracting target coordinates. Considering multiple errors, Kalman prediction algorithm was used to achieve stable tracking. According to the characteristics of the system, the calculation scheme of power transmission efficiency of the system was put forward. The results show that, when the flight speed of UAV is within 18km/h, APT system can track the UAV accurately from 300m to 500m. The tracking accuracy is within 320μrad. The scheme can ensure the tracking accuracy and reliability of laser energy transmission process.