Модель влияния ошибок эфемерид на точность навигационного изменения координат робототехнических комплексов

Abstract

Purpose. The purpose of the study is to quantify the effect of ephemeris errors on the accuracy of the navigation determination of coordinates of robotic systems involved in the performance of special works by units of EMERCOM, using a specially developed mathematical model and a computer program for its implementation. Limitations in the development of the model are formulated. Its block diagram is presented with purpose description and calculation algorithms performed in each of the functional blocks included in its structure. Methods. Research methods are based on the theory of information support for the dynamic objects control using satellite radio navigation systems. Findings. The results of the study show the following. 1. If the ephemeris errors are the same for all navigation spacecrafts that form a “constellation” during navigation measurements of robotic system coordinates, then without taking measures to allow for the errors, the calculated robotic system location point will be determined by parallel transfer of the original coordinate system from the starting point to a distance equal to the value of this error. This conclusion is confirmed by the calculation results. 2. If the ephemeris errors for all navigation spacecrafts that form a “constellation” during navigation measurements of robotic system coordinates are different, the calculated robotic system location point will also differ from its true position in different ways. 3. The calculations show that at various points of the robotic system location, the deviation of the calculated trajectory from its true one in absolute value approaches the absolute ephemeris error. This result indicates that a priori known ephemeris errors can be used to judge the error they introduce into the navigation determination of robotic system coordinates if the ephemeris errors are not compensated or algorithmically excluded from the results of navigation measurements. For other unmanned aerial vehicle (UAV) trajectories, the effect of ephemeris errors on the accuracy of their navigation measurement can be estimated using this program. Research application field. In practice, the results of the study can be used when planning special work carried out by fire and rescue units of EMERCOM of Russia. Conclusions. According to the initial data on the required quality of controlling robotic systems involved in special works, it will be possible to take the necessary measures in advance to consider ephemeris errors contained in transmitted navigation messages, or to neglect them if their effect on the control accuracy can be neglected.