This paper presents the experimental results of an artificial vision system prototype for application to unmanned formation flight and aerial refueling. In the former, a camera on the wingman captures leader images, estimating the relative position; in a the latter, using probe-and-drogue refueling, the aircraft camera acquires basket images, and from that estimating the relative position. Position estimation is based on localization of infrared markers which have a known geometry distribution over the leader airframe or drogue body. Experimental results using a low cost simulated formation flight setup are shown, to validate the procedure.
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