Abstract
The purpose of the research was to create an algorithm for determining and correcting the output parameters of the navigation module and the flight-navigation complex of unmanned aerial vehicles which provides control of an aviation gyro-stabilized platform with a multispectral optoelectronic system during flight and tracking various objects of observation.Principles of control of an aviation technical vision system located on an unmanned aerial vehicle on a two-degree gyro-stabilized platform with the possibility of full turn around two perpendicular axes along the course and pitch are considered. Stability of tracking of observation objects at a distance of up to 10000 m is ensured by the use of a multispectral optoelectronic system including a rangefinder, thermal imaging and two visual channels.Analysis of the object of observation and the method of its support are carried out. An algorithm is proposed for integrating a Global Navigation Satellite System and a strapdown inertial navigation system based on the extended Kalman filter which includes two stages of calculations, extrapolation (prediction) and correction. Specialized software in theFreeRTOSv9.0 environment has been developed to obtain a navigation solution: latitude, longitude and altitude of the unmanned aerial vehicle in theWGS-84 coordinate system, as well as the pitch, heading and roll angles; north, east and vertical components of velocities in the navigation coordinate system; longitudinal, vertical and transverse components of free accelerations and angular velocities in the associated coordinate system based on data from the receiving and measuring module of the Global Navigation Satellite System and data from the 6-axis MEMS sensorSTIM300.
Highlights
Airborne vision and navigation systems of an aircraft are a combination of various devices: a radar station, a thermal imager, a television (TV) camera, a laser locator, etc., which ensure the performance of various tasks related to observing objects in difficult weather conditions as well as in poor visibility conditions
Providing the specified functionality of the navigation unit of the combined anti-jamming multisystem inertial-satellite navigation receiver is implemented by establishing the initial relationship between the following coordinate systems (CS): geocentric inertial (i-frame), geocentric rectangular connected to the Earth (e-frame), navigation (n-frame) and asso-ciated (b-frame)
An algorithm for the integration of a Global Navigation Satellite System and a Strapdown Inertial Navigation System based on the extended Kalman filter has been developed, through which the errors in determining the angular orientation, velocities and coordinates are estimated
Summary
Airborne vision and navigation systems of an aircraft are a combination of various devices: a radar station (radar), a thermal imager, a television (TV) camera, a laser locator (lidar), etc., which ensure the performance of various tasks related to observing objects in difficult weather conditions as well as in poor visibility conditions. ‒ providing a given viewpoint; ‒ keeping the object of interest in the center of the frame, and for adjusting the circular flight path and transferring the coordinates of the circle center to the flight and navigation complex (FNC); ‒ maintaining a given angle of inclination in terms of distance to the object, etc To fulfill these parameters, it is not enough to control only the position of the sighting axis of the aviation technical vision system (STZA), but it is required to issue corrective signals to the autopilot. The second option is the transfer of the required flight trajectory to the flight and navigation complex In this embodiment, the functionality of the observation parameters is implemented in the STZA (Table). When driving at low speeds, significant changes in direction are possible, so the averaging window decreases
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