Abstract
Abstract. The paper presents the results of the prediction for the parameters of the position and orientation of the unmanned aerial vehicle (UAV) equipped with compact digital camera. Issue focus in this paper is to achieve optimal accuracy and reliability of the geo-referenced video frames on the basis of data from the navigation sensors mounted on UAV. In experiments two mathematical models were used for the process of the prediction: the polynomial model and the trigonometric model. The forecast values of position and orientation of UAV were compared with readings low cost GPS and INS sensors mounted on the unmanned Trimble UX-5 platform. Research experiment was conducted on the preview of navigation data from 23 measuring epochs. The forecast coordinate values and angles of the turnover and the actual readings of the sensor Trimble UX-5 were compared in this paper. Based on the results of the comparison it was determined that: the best results of co-ordinate comparison of an unmanned aerial vehicle received for the storage with, whereas worst for the coordinate Y on the base of both prediction models, obtained value of standard deviation for the coordinate XYZ from both prediction models does not cross over a admissible criterion 10 m for the term of the exactitudes of the position of a unmanned aircraft. The best results of the comparison of the angles of the turn of a unmanned aircraft received for the angle Pitch, whereas worst for the angles Heading and Roll on the base of both prediction models. Obtained value of standard deviation for the angles of turn HPR from both prediction models does not exceed a admissible exactitude 5° only for the angle Pitch, however crosses over this value for the angles Heading and Roll.
Highlights
Scientific progress and technological which took place in last years, resulted in the development of the imaging technology of the surface of the Earth
The transceivers of one frequency of GPS allowing to reach the GPS accuracy of appointing the position which is developing on the level of just a few meters are installed on board of majorities low-cost unmanned aerial vehicle (UAV) and INS with a strong drift are used which do not allow for direct georeferencing (Grenzdörffer et al, 2008; Kedzierski et al, 2016a)
The forecast values of position and orientation of the unmanned aircraft became verified with the real readings of navigational parameters from UAV
Summary
Scientific progress and technological which took place in last years, resulted in the development of the imaging technology of the surface of the Earth. The results of obtained measurements from the individuals MEMS are not as accurate as those based on fiber-optic gyroscopes FOG (Fiber Optic Gyro), in case of limiting mass applying such solutions on board UAVs is becoming impossible (Burdziakowski, 2016). In frames of the prediction of the position and the sense of direction of the unmanned aircraft different mathematical models and statistical models are applicable. The results of the prediction for parameters of the position and of the sense of direction of the unmanned aircraft were presented in the paper. The forecast values of position and orientation of the unmanned aircraft became verified with the real readings of navigational parameters from UAV. The results of researches were placed in the graphical form, tabular and descriptive in the chapter four of the paper
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