Determination and Assessment of the Level of Deviations of Unmanned Aerial Vehicles from a Given Trajectory from Images of the Underlying Surface

The purpose of research is to reduce the computational and resource costs associated with performing procedures on board unmanned aerial vehicles for determining and evaluating the level of parameters of uncoordinated deviations from a given trajectory based on the results of image processing of the underlying surface.

Methods. Methods of photogrammetric processing of overlapping aerospace images and approximation of trigonometric functions were used to mathematically describe the process of determining and evaluating the level of uncoordinated deviations of an unmanned aerial vehicle from a given trajectory.

Results. Functional dependences between the parameters of deviations of unmanned aerial vehicles from a given trajectory and changes in parallaxes of overlapping images of the underlying surface caused by these deviations are obtained. A procedure for calculating parallax changes based on the approximation of the obtained functional dependencies has been developed. Quantitative estimates of approximation errors, as well as the joint and separate influence of deviations on the magnitude of changes in the parallaxes of overlapping images are performed.

Conclusion. The difference in the values of the longitudinal parallaxes of adjacent pairs of overlapping images and the difference from zero of their transverse parallaxes serve as a criterion for the presence of uncoordinated deviations of the flight route from the specified trajectory in altitude and direction of flight. The developed model is based on the use of the underlying surface for the analysis and processing of current images and provides automatic detection and assessment of the level of these deviations with a relative error of 0.9%. Unlike the well-known ones, the proposed approach is based on simple computational procedures, which significantly reduces the level of computational and resource costs.

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