Abstract: Aspects of the disclosure provide solutions for automated air-to-air refueling (A3R) and assisted air-to-air refueling. Examples include: receiving a video frame; identifying an aircraft to be refueled from within the video frame; segmenting the video frame to generate a segmentation mask matching the aircraft within the video frame; based on at least the segmentation mask, determining a position of a fuel receptacle on the aircraft; determining a position of a boom tip of the aerial refueling boom; and controlling the aerial refueling boom to engage the fuel receptacle based on at least the position of the fuel receptacle and the position of the boom tip.

Abstract: A method includes providing an image to a feature extraction model to generate feature data. The image depicts a portion of a first device and a portion of a second device. The feature data includes coordinates representing key points of each of the first and second devices depicted in the image. The method also includes obtaining position data indicating a position in 3D space of a connector of the first device. The method further includes providing the feature data and the position data to a trained autonomous agent to generate a proposed maneuver to mate the connector with a connector of the second device.

Abstract: Aspects of the disclosure provide solutions for automated air-to-air refueling (A3R) and assisted air-to-air refueling. Examples include: receiving a video frame; generating, from the video frame, a plurality of images having differing decreasing resolutions; detecting, within each of the plurality of images, a set of aircraft keypoints for an aircraft to be refueled; merging the sets of aircraft keypoints into a set of merged aircraft keypoints; based on at least the merged aircraft keypoints, determining a position of a fuel receptacle on the aircraft; and determining a position of a boom tip of an aerial refueling boom. Some examples include, based on at least the position of the fuel receptacle and the position of the boom tip, controlling the aerial refueling boom to engage the fuel receptacle, and for some examples, the video frame is monocular (e.g., provided by a single camera).

Abstract: A system for detecting a sensor fault of an aerial refueling boom. The system comprises a data collector configured to receive sensor data from a plurality of sensors and determine an aerial refueling boom elevation angle of the aerial refueling boom based on the sensor data, wherein the sensor data comprises at least one of cable length data, a dynamic pressure data or aerial refueling boom position data. The system further comprises a processing unit configured access a database table in a storage unit to determine an estimated aerial refueling boom elevation angle, a comparator configured to compare the estimated aerial refueling boom elevation angle to the determined aerial refueling boom elevation angle, and a fault detector configured to generate a sensor fault signal based on the comparison.

Abstract: An aerial refueling boom elevation estimation (“ARBEE”) system for estimating an elevation angle of an aerial refueling boom on an aerial refueling aircraft is described. The ARBEE system may include a data collector, storage unit, optimizer, and comparator.

Abstract: A control system for an aircraft refueling boom controls the movements of the boom in certain areas in a total field of movement volume of possible boom movements based on the location of the boom in the total field of movement volume and based on the current rate of movement of the boom in the total field of movement volume.

Abstract: A control system for an aircraft refueling boom controls the movements of the boom in certain areas in a total field of movement volume of possible boom movements based on the location of the boom in the total field of movement volume and based on the current rate of movement of the boom in the total field of movement volume.

Abstract: A control system for an aircraft refueling boom controls the movements of the boom in certain areas in a total field of movement volume of possible boom movements based on the location of the boom in the total field of movement volume and based on the current rate of movement of the boom in the total field of movement volume.

Abstract: A control system for an aircraft refueling boom controls the movements of the boom in certain areas in a total field of movement volume of possible boom movements based on the location of the boom in the total field of movement volume and based on the current rate of movement of the boom in the total field of movement volume.

Abstract: An aerial refueling boom elevation estimation (“ARBEE”) system for estimating an elevation angle of an aerial refueling boom on an aerial refueling aircraft is described. The ARBEE system may include a data collector, storage unit, optimizer, and comparator.

Abstract: An apparatus comprising a refueling controller. The refueling controller is configured to receive a number of operator commands for moving a refueling boom on a tanker aircraft in a desired direction. The number of operator commands defines at least one of an azimuth movement and an elevation movement of the refueling boom during flight of the tanker aircraft. The refueling controller is further configured to generate a number of intermediate commands for moving the refueling boom in the desired direction as defined by the number of operator commands. The number of intermediate commands defines at least one of a roll movement and a pitch movement such that the refueling boom moves in the desired direction.

Abstract: An apparatus comprising a refueling controller. The refueling controller is configured to receive a number of operator commands for moving a refueling boom on a tanker aircraft in a desired direction. The number of operator commands defines at least one of an azimuth movement and an elevation movement of the refueling boom during flight of the tanker aircraft. The refueling controller is further configured to generate a number of intermediate commands for moving the refueling boom in the desired direction as defined by the number of operator commands. The number of intermediate commands defines at least one of a roll movement and a pitch movement such that the refueling boom moves in the desired direction.

Abstract: A method and apparatus comprising a refueling controller. The refueling controller is configured to receive a number of operator commands for moving a refueling boom on a tanker aircraft in a desired direction. The number of operator commands defines at least one of an azimuth movement and an elevation movement of the refueling boom during flight of the tanker aircraft. The refueling controller is further configured to generate a number of intermediate commands for moving the refueling boom in the desired direction as defined by the number of operator commands. The number of intermediate commands defines at least one of a roll movement and a pitch movement such that the refueling boom moves in the desired direction.

Abstract: A method and apparatus comprising a refueling controller. The refueling controller is configured to receive data about a current rate of movement of a refueling boom while the refueling boom is in contact with a receiver aircraft during flight. The refueling controller is further configured to disconnect the refueling boom from the receiver aircraft based on the current rate of movement of the refueling boom and a current position of the refueling boom.

Abstract: A method and apparatus comprising a refueling controller. The refueling controller is configured to receive a number of operator commands for moving a refueling boom on a tanker aircraft in a desired direction. The number of operator commands defines at least one of an azimuth movement and an elevation movement of the refueling boom during flight of the tanker aircraft. The refueling controller is further configured to generate a number of intermediate commands for moving the refueling boom in the desired direction as defined by the number of operator commands. The number of intermediate commands defines at least one of a roll movement and a pitch movement such that the refueling boom moves in the desired direction.

Abstract: A method and apparatus comprising a refueling controller. The refueling controller is configured to receive data about a current rate of movement of a refueling boom while the refueling boom is in contact with a receiver aircraft during flight. The refueling controller is further configured to disconnect the refueling boom from the receiver aircraft based on the current rate of movement of the refueling boom and a current position of the refueling boom.