Algorithms for Functioning of the Magneto-Metric System to Provide Search and Rescue Operations Using Unmanned Flying Vehicles

Purpose of research. Reducing the time and increasing the efficiency of search and rescue of crews of land vehicles, air, surface and underwater craft. Combining physical, informational, and geometric parameters allows reliable detection of single ferromagnetic bodies by analyzing additional information in working algorithms.

Methods. The paper contains a practically significant variant of building a search engine that is implemented on two or more unmanned flying vehicles moving in the search area in a coordinated formation at the basic distance. The solution system is based on using magnetic field components as magnetometric information without using primary gradient information. This feature allows us to get compact and functionally complete algorithms. Calculations using such algorithms ensure the stability of an  unmanned flying vehicle in various combinations of vector, roll and pitch.

Results. Algorithms for the functioning of the magnetometric system for searching ferromagnetic bodies based on the magnetostatic equations have been constructed in the article,. The intelligent system is based on the scheme of a measuring and computing circuit with staggered vector three-axis blocks of magnetometers in space. The system is able to solve the whole range of problems of search, detection, direction finding, localization, positioning and identification of metal objects that have their own magnetic field.

Conclusion. The main result of the study is that the working algorithms for detecting ferromagnetic bodies take into account the characteristics of the air environment, the instrumental error of measurement units of physical quantities and  the geometric proportions of measuring equipment  location  on board the unmanned and manned search and rescue helicopters. The obtained research results have been used in the development of a hardware and software complex with helicopter-type unmanned flying vehicles designed to support search and rescue operations in the Arctic.

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