МОДЕЛІ ПОТОЧНИХ ЗОБРАЖЕНЬ, ЩО ФОРМУЮТЬСЯ КАНАЛАМИ КОМБІНОВАНОЇ КОРЕЛЯЦІЙНО-ЕКСТРЕМАЛЬНОЇ СИСТЕМИ НАВІГАЦІЇ БЕЗПІЛОТНОГО ЛІТАЛЬНОГО АПАРАТУ

Abstract

A refinement of the current image model has been accomplished, which are formed by separate channels of the combined correlation-extreme navigation system depending on the spatial position of the unmanned aerial vehicle and its changes. The model takes into account the influence of the three-dimensional shape of complex objects of the sighting surface on the effective antenna temperature of the radiometric channel, which made it possible to refine the moles of the description of the radiometric and television current image of the sighting surface, depending on the informative features. It is determined that at small viewing altitudes the change in the spatial position of the unmanned aerial vehicle leads to significant differences in the radio brightness temperature within a single sighting object, which causes the blurring and appearance of new interfaces on the current image of the viewing surface. It is established that the discrepancy between the current image and the reference image, which arises from the appearance of new interfaces at the sight of complex three-dimensional objects from low altitudes and with a change in the spatial position and orientation of the unmanned aerial vehicle, leads to the formation of a multi-extremal decision function and a decrease in the accuracy of the location of the correlation-extreme navigation system.