Model of Parameters of the Flight Route Deviation of Unmanned Aerial Vehicles from a Specified Trajectory
https://doi.org/10.21869/2223-1560-2021-25-4-145-161
Abstract
Purpose of research is to broaden the tools for using digital video surveillance systems for navigation of unmanned aerial vehicles in conditions of loss of signals from satellites.
Methods. The development of a mathematical model of deviations of an unmanned aerial vehicle from a specified trajectory is based on the theory of photogrammetry in terms of a mathematical description of the mutual orientation of a pair of aerospace images and parallaxes of the corresponding points in their overlap zone.
Results. A mathematical model that determines a functional relationship between the parameters of deviations of unmanned aerial vehicles from a given trajectory and changes in the longitudinal and transverse parallaxes of overlapping images of the underlying surface caused by these deviations, was developed. Quantitative estimates of the influence of deviation parameters on the magnitude of changes in the longitudinal and transverse parallaxes of the corresponding points of overlapping images were obtained.
Conclusion. The obtained functional dependencies provide the possibility of autonomous detection and assessment of the level of deviations of an unmanned aerial vehicle from a given trajectory in pitch, roll and yaw angles, as well as in altitude and direction of flight. At the same time, in addition to images of the underlying surface obtained and processed during flight on board unmanned aerial vehicles, the use of other information, including digital maps of the area of their application, is not required.
About the Authors
V. G. Andronov
Southwest State University
Russian Federation
Russian Federation
Vladimir G. Andronov, Dr. of Sci. (Engineering), Head of the Department of Space Instrumentation and Communication Systems
50 Let Oktyabrya str. 94, Kursk 305040
A. A. Chuev
Southwest State University
Russian Federation
Russian Federation
Andrey A. Chuev, Post-Graduate Student Space Instrumentation and Communication Systems Department
50 Let Oktyabrya str. 94, Kursk 305040
A. A. Knyazev
Southwest State University
Russian Federation
Russian Federation
Alexander A. Knyazev, Student, Space Instrumentation and Communication Systems Department
50 Let Oktyabrya str. 94, Kursk 305040
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Review
For citations:
Andronov V.G., Chuev A.A., Knyazev A.A. Model of Parameters of the Flight Route Deviation of Unmanned Aerial Vehicles from a Specified Trajectory. Proceedings of the Southwest State University. 2021;25(4):145-161. (In Russ.) https://doi.org/10.21869/2223-1560-2021-25-4-145-161
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