Unmanned Aerial Vehicle Equipment Research Articles

Chemical sensors on unmanned aerial vehicles: new possibilities for searching for mines and explosive devices

Increasing the effectiveness of anti-mine protection of troops, timely detection and marking of mine-explosive devices in the area, prompt informing of personnel of units operating in the area, search for methods and means that increase the reliability of the search and reduce the level of false detections, possible identification and marking of mines (explosive objects) are extremely relevant and, given the scale of demining that will need to be carried out on the territory of Ukraine after the end of hostilities, promising tasks. This can be achieved through the introduction of modern, reliable, effective, remote methods and means of searching, detecting, identifying and marking mine-explosive devices that work in real time with a fairly high speed. The purpose of the research is to justify the need to use chemical modules (equipped with a set of chemical sensors) installed on unmanned aerial vehicles for conducting engineering and reconnaissance actions for the search, detection and marking of mine-explosive devices. It has been established that the combination of unmanned aerial vehicles of the multi-rotor type with the appropriate chemical module will prevail over other means of reconnaissance of mine-explosive devices (barrages) in service and will meet such criteria as mobility, speed (operational), sensitivity, reliability, selectivity, reliability, stability. It is recommended that the chemical module include various appropriate sensors that will complement each other and cover the entire range of explosives used to equip mines and explosive objects. Chemical sensors that work on the principle of suppression of fluorescent radiation by the vapor of an explosive substance are promising. The effectiveness of demining with the help of unmanned aerial vehicles with a chemical module will depend on the probability of explosive vapors entering the chemical module's area of operation and the probability of detecting mine-explosive devices. At the same time, the equipment of unmanned aerial vehicles intended for conducting engineering reconnaissance not only with a chemical module, but also with other, additional sensors for detecting mines (explosive objects) by secondary signs will allow to increase the reliability of the search and detection of mine-explosive devices.

Application of unmanned aerial vehicles (UAV) in building 2D maps and 3D current status models for planning design

The article presents the topographic survey work using unmanned aerial vehicle (UAV) images to build 2D maps and 3D current status models. This technology has been used in many areas of life, but in Vietnam in planning design, it has not been widely applied.. Planning architects still follow the traditional method of relying on the 2D basemap database plus input data collected from various sources and at the request of the Investor to analyze and design the plan.. The products created from the above inputs are 2D detailed design drawings and 3D design models. It will be difficult to avoid shortcomings and limitations that will affect quality and slow progress due to design adjustments.. The design and application of the results from UAV equipment such as 2D topographic maps, image maps, 3D current status models, digital elevation models (DEM), point cloud data, etc. will improve the quality of design and planning management, in addition to adding an approach to green, sustainable design, responding to climate change and natural disasters.

Kinematic Model for Stabilization and Orientation Control of the Suspended Equipment of an Unmanned Aerial Vehicle

The article is devoted to the development and research of a kinematic model of stabilization and orientation control of the suspended equipment of an unmanned aerial vehicle (UAV). The created model is based on the kinematic model of a three-axis gimbal (TAG): the structure of the TAG for the UAV, the mathematical description of the TAG of the UAV and the derivation of kinematic equations for the problems of stabilizing and controlling the orientation of the UAV suspension equipment. In the general case, the derivation of the kinematic equations of the TAG on the UAV is a complex process and is similar to the derivation of a kinematic model of a robotic arm with six degrees of freedom. The TAG is considered as a manipulative mechanism with six degrees of freedom: three degrees of freedom are determined by the UAV rotations around the axes of the coordinate system attached to the UAV, and three degrees of freedom are set by the frames of the TAG along the channels of yaw, roll and pitch during rotational movements of these frames around the corresponding axes of the coordinate systems attached to the frames of the TAG. Such a statement in the general case does not have an unambiguous solution for the tasks of stabilization and orientation control of the suspended equipment of UAV. To eliminate this ambiguity, optimization is used in the process of designing the TAG and installing the TAG in such positions on the UAV that reduce the computational complexity of the tasks being solved. The kinematic model is presented in the article by kinematic equations, the solution of which ensures the stabilization of the suspended equipment of UAV, and kinematic equations, the solution of which allows you to control the equipment (camera) of the UAV when tracking moving objects (moving targets) in space. The simulation of the TAG in the MATLAB Simulink software environment was performed. The simulation results in the MATLAB Simulink software environment prove the adequacy of the developed kinematic model of the TAG and its effectiveness for solving the problems of stabilization and orientation control of the suspended equipment of UAV.

Magnetic Interference Analysis and Compensation Method of Airborne Electronic Equipment in an Unmanned Aerial Vehicle

At present, the research and application of aeromagnetic compensation are almost all based on the Tolles–Lawson (T–L) model. With the development of unmanned aerial vehicles (UAVs), the number of intelligent electronic devices in UAVs is increasing, and the magnetic environment of the platform is becoming more and more complicated. Research shows that the magnetic interference caused by airborne electronic equipment has been very significant, sometimes even reaching 100 nT. The traditional airborne magnetic compensation method based on the T–L model cannot effectively compensate the magnetic interference caused by airborne electronic equipment. Aiming at the problem of magnetic interference of airborne electronic equipment of UAVs, this paper analyzes the origin of magnetic interference of airborne electronic equipment using experiments, and it was found that it is related to the power supply current, and the characteristics of magnetic interference are similar to permanent magnet materials. Based on this feature, we eliminated the magnetic interference caused by the working current of airborne equipment by establishing a linear compensation model based on the current’s source. The experimental data show that the current interference source model proposed in this paper can effectively compensate the magnetic interference generated by airborne electronic equipment and the compensation improvement ratio (IR) is greater than 10.

Maritime Target Saliency Detection for UAV Based on the Stimulation Competition Selection Mechanism of Raptor Vision

A maritime target saliency detection method inspired by the stimulation competition and selection mechanism of raptor vision is presented for the airborne vision system of unmanned aerial vehicle (UAV) in an unknown maritime environment. The stimulation competition and selection mechanism in the visual pathway of raptor vision based on the phenomenon of raptor capturing prey in complex scenes are studied. Then, the mathematical model of the stimulation competition and selection mechanism of raptor vision is established and employed for the salient object detection. Popular image datasets and practical scene datasets are applied to verify the effectiveness of the presented method. Results show that the detection performance of the proposed method is better than that of other comparison methods. The proposed algorithm provides an idea for maritime target salient detection and cross-domain joint mission for UAV or other unmanned equipment.

Accuracy of UAV-based DEMs without ground control points

Unmanned aerial vehicles (UAVs) are increasingly used in various environmental research projects and other activities that require accurate topography images. The quality of elevation models derived from UAV measurements varies depending on many variables (e.g. UAV equipment used, terrain conditions, etc.). In order to improve the quality of digital models based on UAV image data, additional GNSS-RTK measurements are usually made at ground control points. The aim of this article is to evaluate the mathematical accuracy of terrain models created without ground control points. The accuracy of the models is considered in two directions: vertical and horizontal. Vertical (elevation) accuracy is calculated based on airborne laser scanning (ALS) data and horizontal (location) accuracy is calculated through comparison with high-resolution orthophotomaps. The average elevation accuracy of all created UAV-based DEMs is found to be 2.7–2.8 m (MAE), 3.1–3.3 m (RMSE), and the average horizontal accuracy is 2.1 m. Despite the low accuracy of the UAV models, the topography is reflected very well in the spatial images. This may be related to the regular and symmetrical distribution of height errors. To improve the accuracy parameters of UAV-based DEMs, it is proposed that they be rapidly georeferenced based on orthophotomaps.

ПІДВИЩЕННЯ ЕФЕКТИВНОСТІ БЕЗПРОВОДОВИХ СИСТЕМ ПЕРЕДАЧІ ДАНИХ В УМОВАХ ЗАСТОСУВАННЯ ЗАСОБІВ РАДІОЕЛЕКТРОННОЇ БОРОТЬБИ

The article discusses some of the technologies that ensure the autonomy of unmanned aerial vehicles (UAVs) on the battlefield, methods of increasing the efficiency of UAV communication channels in the context of electronic warfare (EW). The author analyzes the threats to autonomous UAVs that may arise from the use of electronic warfare, and also presents the characteristics of one of the typical modern electronic warfare complexes. This article discusses the development of a test model of a wireless data transmission channel designed to develop technologies for countering electronic warfare and traininga neural network. The use of this model will allow the development of original domestic algorithms for countering enemy electronic warfare. The requirements of manufacturers to the electronic equipment of autonomous UAVs are analyzed. The possibility of using non-professional SDR radio equipment and open source software and hardware platforms for the develop-ment and verification of these countermeasures algorithms is considered. The algorithm for changing data transmission pa-rameters in the event of interference is determined. The choice of the type of neural network for use in the cognitive radio system of the UAV is substantiated. The idea of applying adaptive coding in UAV communication channels using multicompo-nent turbo codes in combination with neural networks that are simultaneously used for cognitive radio was further developed. Using information from the neural network about subsequent changes in the communication channel will reduce the adaptation time of the coding system, which will reduce the number of errors in data transmission and increase the reliability of commu-nication, especially when using dynamic spectrum access.The article is devoted to the problems of creating methods and models that use software-defined radio (SDR), cognitive radio, and multi-level parametric adaptation of turbo-code structures using artificial intelligence to improve the efficiency of wireless data transmission systems in the context of active use of electronic warfare by ensuring the reliability of information

ОБҐРУНТУВАННЯ НЕОБХІДНОСТІ СТВОРЕННЯ МОБІЛЬНОГО КОМПЛЕКСУ УПРАВЛІННЯ БЕЗПІЛОТНИМИ ЛІТАЛЬНИМИ АПАРАТАМИ НА БАЗІ ШАСІ ВАНТАЖНОГО АВТОМОБІЛЯ

The conducted SWOT analysis made it possible to develop problematic issues that are proposed during the operation of unmanned aerial vehicles, proposals were made for the creation of a mobile complex of the use of unmanned aerial vehicles based on the chassis of a truck. Formulation of the problem. During hostilities, unmanned aerial vehicles (UAVs) were widely used. The massive use of the latest robotic (automated) weapons and military equipment on the battlefield is changing the nature of units' actions. Currently, almost every combat unit has a UAV application group. The high efficiency of their use is confirmed by high results on the battlefield. The security and defense forces of Ukraine are armed with dozens of types of UAVs for various purposes and with various capabilities for lifting cargo and carrying explosives. The use of UAV combat units in the field. Launches of lethal vehicles are carried out by hand or with the help of launch devices. With this mobile application group, the BPLA, although it is at a distance from the line of the next combat encounter, does not have sufficient security and protection from enemy fire. Preparation for use, maintenance of UAVs and charging of batteries in stationary conditions the day before, which reduces the efficiency of actions.The deployment of mobile groups of UAV operators is carried out on vehicles that are available to the military unit at the time, and which are not adapted for the high-quality performance of the combat mission by the group. UAV operators and equipment are not protected from exposure to low ambient temperatures and have no protection from small arms and shrapnel damage. Time indicators of deployment on the terrain of the complex for launching UAVs and folding after the completion of a combat mission need improvement. Analysis of recent research and publications. Scientific studies on improving the actions of units equipped with UAVs were carried out in the National Guard even before the beginning of the full-scale invasion of the Russian Federation. For example, in [1-2], data are given regarding the need for intelligence information and the development of a rational procedure for the use of intelligence unmanned aerial vehicles. In [3], the methodological apparatus for researching the problems of using information technologies and telecommunication systems in the process of military management is presented. The purpose of the article is to justify the need to create a mobile complex for the use of unmanned aerial vehicles based on a truck chassis. Provide recommendations on the creation of a mobile complex for the use of unmanned aerial vehicles.

A Method of Making DEM by Data Fusion of Multi-Device Point Cloud

When planning to build greenways in jungles, accurate topographic information of the target area is significant. The traditional topographic survey is usually manually conducted with several tools, which is not only labour-intensive and time-consuming, but also has limitations in accuracy and efficiency. Therefore, this paper presents a method to generate a digital elevation model based on unmanned aerial vehicle (UAV) and ground equipment supplements the ground area covered by vegetation where UAV-based equipment cannot reach. Iterated Closest Point (ICP) is first used to register the point cloud data from UAV and ground mobile equipment. Then, point cloud classification is used to non-ground point cloud. Finally, the digital elevation model and contour line are obtained. A real experiment is conducted to validate the presented method. The results show that this method not only overcomes the UAV’s limitation of having difficulty in collecting point cloud data from the covered area, but also realizes large-area point cloud data collection that ground mobile equipment cannot. Compared with the traditional base station and multi-person assistance measurement, the presented method is more efficient and effective.

Development of the method of complexing the results of radio monitoring and remote earth sensing

The objects of the research are the objects of monitoring of groups of troops (forces). The relevance of the research lies in the need for a comprehensive analysis of monitoring objects from several sources of information. The results of the analysis show that the most reliable and accurate information comes from aerial monitoring, orbital remote sensing of the Earth and radio monitoring. At the same time, instrumental errors of radio monitoring devices do not allow determining the location of sources of radio radiation with the accuracy necessary for localization (neutralization) of threats. A method of integrating the results of radio monitoring and remote sensing of the Earth has been developed. The essence of the proposed research is the complex processing of monitoring results from various sources of information extraction. The difference between the proposed method and the known ones is that the specified method contains the following improved procedures: ‒ taking into account the type of uncertainty about the state of the monitoring object (complete uncertainty, partial uncertainty, full awareness); ‒ carry out a multi-level analysis of the state of the monitoring object according to 4 levels and 3 significant events; ‒ detection of a monitoring object as part of a group monitoring object. The use of the proposed approach to radio monitoring information processing and monitoring using unmanned aerial vehicles/devices of remote sensing of the Earth allows to reduce the time required for deciphering aerospace images by at least 1.3 times. At the same time, the accuracy of determining the coordinates will be limited by the resolution of the equipment of unmanned aerial vehicles/ devices of remote sensing of the Earth and is of the order of 0.5 m.

Combined use of Terrestrial Laser Scanning and UAV Photogrammetry in producing the LoD3 of 3D high building model

Both Unmanned Aerial Vehicles (UAVs) and Terrestrial Laser Scanners (TLS) are important techniques for surveying and mapping. UAV equipment is commonly used to collect 2D or 3D data acquisition. Meanwhile, TLS equipment is used for obtaining only 3D data acquisition. However, if both are integrated, they were able to produce more accurate data. Multi-sensor data fusion helps overcome the limitations of a single sensor and enables a complete 3D model for the structure and better object classification. This study focuses on studying the combination of UAV and TLS technologies to collect, process data, and create the complete point cloud between two point clouds of the high building in Ha Long city, Quang Ninh province to establish a 3D model at LoD 3 detail level, with high accuracy. FARO FOCUS3D X130 and DJI Phantom 4 RTK equipments were used to acquire the data in the field. The aerial and ground data were processed using FARO SCENE 2019 and Agisoft PhotoScan software, respectively. The data integration process is done by converting both point clouds into the same coordinate system and then by aligning the same points of both points clouds in Cloud Compare. The result of this study is a 3D model at LoD 3 detail level of the high building based on the point cloud accuracy in centimeter level. The combined use of UAV and TLS technologies has proven to be possible to create a highly accurate 3D model, at the 1:500 scale of urban areas according to current standards.

On the Development and Application of Airborne GPR Solutions

Recent development of ground penetrating radar (GPR) technology, together with effective unmanned aerial vehicles (UAVs), have made it possible to carry out airborne GPR measurements across areas otherwise difficult to access and survey. The interest in airborne GPR studies has therefore been rising steadily in recent years and applications are many, including bathymetry, glaciology, archaeology, near-surface geology, ice- and snow thickness, road planning, peat, and wetland studies. However, airborne GPR measurements introduce several challenges that affect surface-based measurements to a lesser extent. Some of these challenges are regulatory, others of a more technical nature. In this article, we will discuss the effects an airborne antenna solution has on antenna footprint, unwanted signal input and signal loss. We will also describe a few scenarios where airborne GPR has been successfully used. Throughout the included studies, and depending on the application, different MALÅ GeoDrone antennas (developed and manufactured by Guideline Geo) have been used. At this point, it is also important to remind the reader the importance of adhering to local and regional regulations regarding the use of both UAV and GPR equipment.

Analysis of the experience of the combat use of unmanned aerial vehicles against anti-aircraft missile systems in the military conflict in Nagorno-Karabakh.

An analysis of the latest military conflicts and local wars in Ukraine, Syria, Libya and other regions of the planet clearly demonstrates that practically in each of them there is a new format of warfare, traditional ideas about the forms and methods of armed struggle on the battlefield are being destroyed, and significant adjustments are being made. in the strategy and tactics of achieving victorious results for each side. One of them was the so-called "Karabakh conflict" between Armenia and Azerbaijan over control over the territory of Nagorno-Karabakh. The events of September-November 2020 in the scientific community have been called the “drone war”. It was thanks to modern drones that Azerbaijan gained air superiority and used it to achieve a strategic advantage in the war. Modern unmanned aerial vehicles (UAVs) are able not only to effectively identify the enemy day and night, direct their own firepower at him, but also independently destroy him at a considerable distance from the battlefield.The article discusses the use of a massive UAV raid against anti-aircraft missile systems (SAM) of air defense (air defense) in a military conflict on the territory of Nagorno-Karabakh. Such use of UAVs for air defense air defense systems led to the rapid depletion of their combat resource and, as a consequence, the further inability of these complexes to solve tasks according to their intended purpose. An analysis of the results of the combat use of air defense systems against modern UAVs showed that the detection range of the air defense missile system by the UAV equipment has become relatively the same, and sometimes even exceeds it. In the course of the military conflict in Nagorno-Karabakh, a new tactic for the use of UAVs was developed, which makes it possible to ensure the guaranteed defeat of the air defense missile system and thereby carry out the functional suppression of the air defense system and ensure the gains of air superiority. For a scientifically substantiated confirmation of the possibility of successful destruction of an anti-aircraft missile-gun complex (AMC) by a UAV group, analytical and simulation modeling was carried out and appropriate conclusions were drawn to resolve the military conflict in Donbass.

Simulation modeling of free shipless inertial navigation system UAV based on neural network algorithms.

The object of the article is the process of controlling the trajectory of unmanned aerial vehicles (UAVs) in autonomous flight mode based on neural network algorithms. The study is based on the application of numerical-analytical approach to the selection of modern technical solutions for building standard models of platformless inertial navigation systems (BINS) for micro- and small UAVs with subsequent reinforcement of assumptions in the simulation environment, which allowed: MEMS-based technology (using microelectromechanical systems) and Arduino microcomputers, and monitor its operation during the disappearance of the GPS signal; secondly, to experimentally determine the nature of the influence of the structure of the selected neural network on the process of formation of navigation data. Thus, to evaluate the effectiveness of the proposed solutions for the construction of BINS, a comparative analysis of the application of two ELM (Extreme Learning Machine) algorithms - Kalman and WANN (Wavelet Artificial Neural Network - RNN (Recurrent Neural Network) - Madgwick in the form of two experiments. The purpose of the experiments was determined: the study of the influence of the number of neurons of the latent level of the neural network on the accuracy of the approximation of navigation data; determination of the speed of the process of adaptive learning of neural network algorithms BINS UAV. The results of the experiments showed that the use of the algorithm based on ELM - Kalman provides better accuracy of learning the BINS neural network compared to the WANN - RNN - Madgwick algorithm. However, it should be noted that the accuracy of training improved with the number of neurons in the structure of the latent level <500, which increases computational complexity and increases the learning process, which may complicate practical implementation using micro- and small UAV equipment.

НАВЧАЛЬНО-ТРЕНУВАЛЬНА СИСТЕМА ДЛЯ ПІДГОТОВКИ ОПЕРАТОРІВ БЕЗПІЛОТНИХ АВІАЦІЙНИХ КОМПЛЕКСІВ

In order to meet the needs of the Armed Forces of Ukraine (AFU) for specialists in the operation of unmanned aerial systems, the Zhitomir Military Institute named by S. P. Korolev deployed training for operators - military pilots. While creating the material and technical base, the issue of developing and introducing into the training process of simulators that would meet the requirements of higher military education training. Development of the scientific training system was carried out on the basis of the list of basic training issues, profound mastery of which is mandatory for the UAV operator’s. The training system was developed, manufactured and implemented in the training process, which is built as a schematic-abstracted one to ensure the conditions of effective learning material assimilation. The content basis of the scientific training system is a flat schematic outline of the aircraft, which contains typical onboard equipment of unmanned aerial vehicles and a reconstructed connection scheme of the elements. The power of the onboard equipment is provided from the classroom power supply via a stabilized power supply unit. Operation of the onboard equipment can be controlled from the manual control panel and from the ground control station via the Mission Planner program. The Mission Planner can also be controlled from the X - Plane flight simulator. In flight simulation mode, the Mission Planner screen displays a map of the flight route, the X-Plane screen displays the view and spatial orientation as well as the corresponding servo drives of the aircraft's steering surfaces and the main engine operation modes. The software of the scientific training system allows planning and adjusting the route and flight program, practicing UAV piloting skills in the flight simulator mode, simulating flight in different weather conditions. The scientific training system includes a two-channel hardware-software oscilloscope which allows to research electric processes in different electric lines of airborne equipment of the aircraft and pair interconnections between them. Functional properties of scientific training system allow to study theoretically and practice practically a wide range of training issues required in training of UAV operators. Up to this circle includes both the issues necessary for mastering drone piloting and the issues necessary for mastering the maintenance and repairs of UAV.

THE STUDY OF THE “CETUS” UNMANNED AERIAL VEHICLE FOR TOPOGRAPHIC AERIAL SURVEYING

The work aims to analyze and study the possibilities of using “Cetus” unmanned aerial vehicle (UAV) for performing topographic aerial surveys. The authors developed and tested aircraft-type UAV for topographic aerial photography. The studies were conducted on a specialized landfill, at which there is an appropriate number of situational points whose coordinates are determined with high accuracy. These points were used as both reference and control points. The obtained UAV aerial survey materials were subjected to a phototriangulation process to determine the orientation elements and to analyze, first and foremost, the angular orientation elements. The surveying was carried out on a mountainous territory, where the spatial coordinates of 37 situational points were determined by the method of ground-based GPS survey with an average accuracy of up to 0.05 m. These points were used as reference and control points. Aerial photography was performed in such a way that the scale of the images was as uniform as possible. The design solutions implemented in the Cetus UAV provide all the possibilities to perform aerial surveys of territories in strict compliance with the projected flight parameters. UAV equipment provides the necessary real-time correction of the position of the aerial camera. At the same time the optimum straightness of routes, stability of scales and mutual overlapping of pictures is reached. Regarding the accuracy of obtaining the spatial coordinates of the points of terrain objects, using “Cetus” UAV surveys, plans can even be made on a scale of even 1: 1000. As a result of the creation of the UAV “Cetus”, it became possible to perform the topographic aerial survey of the territories and to create large-scale orthophotos that fully meet the instructions. As a result of testing the “Cetus” UAV, it can be used in production processes when drawing up topographic plans for a large-scale series: 1: 1000 – 1: 5000, which will significantly save the cost of performing topographic work.

ENHANCING UAV COASTAL MAPPING USING INFRARED PANSHARPENING

Abstract. Ecosystems must now cope with climate change such as rising sea levels. These major changes have a direct impact on the coastal fringe. However, in recent years, coastal ecosystems such as saltmarshes have proven their adaptive capacity. Unmanned Aerial Vehicles (UAV) are an inexpensive and easily deployable alternative which offer us the possibility to monitor these geomorphological and ecological systems, have been perfected over the years, making it possible to achieve high or even very high (VH) spectral and spatial resolution. Detection of changes at VH temporal and spatial resolution such as coastline evolution or seasonal monitoring of plant communities is facilitated. The red-green-blue (RGB) camera is the basic equipment of low-cost UAVs. Many studies have demonstrated the interest of infrared sensors for vegetation or water detection. In this original study, a pansharpening method has been developed to generate a red-edge (RE) and near infrared channel based on the VH resolution of RGB. Out of the three different pansharpening algorithms tested, Gram-Schmidt showed correlation (0.61 and 0.63 for RE and NIR channels respectively), followed by nearest neighbor diffusion and finally, principal component spectral pansharpening. The maximum likelihood, support vector machine and convolutional neural network classifiers were used to discriminate the main objects of the study area. The classification results revealed that at the classifier scale the ML outperforms the others with an overall accuracy of 80.75%. At the spectral band scale, the RE obtains the best performances with 80.04% of OA with ML and 78.34% of OA with SVM.

Simulation of platform-free inertial navigation system of unmanned aerial vehicles based on neural network algorithms

The object of research is the process of controlling the trajectory of unmanned aerial vehicles (UAVs) in autonomous flight mode based on neural network algorithms. The study is based on the application of numerical-analytical approach to the selection of modern technical solutions for the construction of standard models of platformless inertial navigation systems (BINS) for micro and small UAVs, followed by support for assumptions. The results of simulation in the Matlab environment allowed to simulate the operation of the UAV control system based on MEMS technology (using microelectromechanical systems) and Arduino microcomputers. It was also possible to experimentally determine the nature of the influence of the structure of the selected neural network on the process of formation of navigation data during the disappearance of the GPS signal. Thus, to evaluate the effectiveness of the proposed solutions for the construction of BINS, a comparative analysis of the application of two algorithms ELM (Extreme Learning Machine)-Kalman and WANN (Wavelet Artificial Neural Network)-RNN (Recurrent Neural Network)-Madgwick in the form of two experiments. The purpose of the experiments was to determine: the study of the influence of the number of neurons of the latent level of the neural network on the accuracy of approximation of navigation data; determining the speed of the process of adaptive learning of neural network algorithms BINS UAV. The results of the experiments showed that the application of the algorithm based on ELM-Kalman provides better accuracy of learning the BINS neural network compared to the WANN-RNN-Madgwick algorithm. However, it should be noted that the accuracy of learning improved with the number of neurons in the structure of the latent level <500, which iincreases computational complexity and increases the learning process time. This can complicate the practical implementation using micro- and small UAV equipment. In addition, thanks to the simulation, the result of the study of the application of the proposed neural network algorithms to replace the input data instead of GPS signals to the input BINS, allowed to estimate the positioning error during the disappearance of GPS signals. Also, the application of the WANN-RNN-Madgwick algorithm allows to approximate and extrapolate the input signals of navigation parameters in a dynamic environment, while the process of adaptive learning in real time.

Application and development trend of unmanned aerial vehicle navigation technology

UAV (Unmanned Aerial Vehicle) equipment is novel because of its remote automatic control characteristics, so navigation technology is particularly critical. It is necessary to study and apply UAV technology. This paper first analyzes the UAV navigation technology, then the different types of UAV navigation system, and finally looks forward to the development direction of UAV navigation system, hoping that through this study, we can have a general understanding of the application and development trend of UAV navigation technology, and hope that the relevant research can be further enriched and improved to guide practical application.

COMPLEX MODEL BASED ON UAV TECHNOLOGY FOR INVESTIGATING PASTORAL SPACE

Data from the specialized literature show that in the last decade there has been a rapid development in the use of unmanned aerial vehicles (UAV) for obtaining spatial information from the pastoral environment. The idea of investigating grassland surfaces with the help of drones was based on the following practical considerations: the size and complexity of pastoral space and the need for data acquisition in hard-to-reach areas and in a short time. In this context, the purpose of the research is to integrate UAV technology and GIS applications into pratological research, the results obtained having both practical and methodological character. For the efficient research of the pastoral space with UAV equipment, a working model was developed, complex from a technical point of view, consisting of several stages: identifying the areas of interest, planning and setting the flight parameters, "photographing" the area, downloading and image processing, and then processing the results in the GIS environment. From each stage, geospatial products can be extracted, and the final products can be used in various ways, both in the pastoral space and in other segments of the geographical environment. Following the application of the working algorithm results the orthophotoplan and the point clouds, from which can be extracted topo-cadastral information (related to the "physical" surface of grasslands), pratological information (related to vegetation and mode of use) or useful information in territorial planning (risk phenomena, relief aspects), with high precision and spatial location. Compared with the classical research methods, the use of the working model based on geomatic technologies, has the effect of reducing the working time and the number of operators, the possibility of tracking time and space of the investigated territory, but also the formation of graphic and descriptive databases that they can be used in other subsequent projects.