ПОРІВНЯЛЬНА ОЦІНКА ІСНУЮЧИХ МЕТОДІВ НАВІГАЦІЙНОГО ЗАБЕЗПЕЧЕННЯ ТА ВДОСКОНАЛЕНОГО КОМБІНОВАНОГО МЕТОДУ З ФІЛЬТРОМ ЧАСТИН РАО-БЛЕКВЕЛЛА

Abstract

The analysis of the research showed that the most effective development of modern autonomous navigation software is the modernization of complexes and systems, improvement of methods and algorithms of software and hardware implementation, which will ensure the efficiency of existing equipment, relevance and reduce financial burden on weapons and military equipment. The development of a modern autonomous navigation system using modern positioning methods and algorithms is one of the priorities, because the existing systems used today, although effective, but in the future may lead to a number of problems and difficulties that will not be solved in a short time. The new solution of the scientific and applied problem, which consists in improving the mathematical and software subsystems for determining the current location of combat reconnaissance vehicles with existing information and control systems, is generalized and substantiated. The paper presents the results of an improved method of determining the current value of coordinates with a filter of Rao-Blackwell parts, which allows to determine the current coordinates of the machine with the required accuracy and conservation of the calculated resource of combat information control system. A comparative evaluation of existing navigation systems and a combined method for determining the current value of coordinates with a filter of Rao-Blackwell parts integrated into the onboard information and control system of the machine. The exact characteristics of the system for determining the current coordinates of the machine that do not exceed half the linear dimensions of the combat vehicle are established. In addition, the estimated power of the processor to perform complex arithmetic tasks in the onboard information and control system. This indicates that by reducing the cumulative error as a result of arithmetic operations in existing algorithms and in the improved method increases the accuracy of the system and reduces the estimated resource of the entire subsystem in the BICS. Keywords: on-board information and control systems, Rao-Blackwell part filter, positioning, autonomous moving object, Kalman filter.