Specification of Parameters of Deviations of Unmanned Aerial Vehicles from a Given Trajectory, Measured by Means of Inertial Navigation, from Images of the Underlying Surface

Purpose of research is development of a technique providing specification of inertial measurements of parameters of deviations of unmanned aerial vehicles from a given trajectory by parallax images of the underlying surface.

Methods. For the mathematical description of the specification procedures, a mathematical model of deviation parameters was used, establishing a functional relationship between these parameters, the plane coordinates of the corresponding points and the parallaxes of overlapping images of the underlying surface. The nonlinear system of equations describing this functional relationship was solved using the least squares method with an estimate of the accuracy of the results obtained.

Results. A technique has been developed to specify the parameters of deviations of unmanned aerial vehicles from a given trajectory based on autonomic photogrammetric processing of overlapping images of the underlying surface. Linearization is performed and a procedure for solving a system of nonlinear equations describing a model of deviation parameters is described. Analytical relations for a posteriori estimation of the accuracy of the obtained results are obtained.

Conclusion. The developed technique provides clarification of the values of uncoordinated deviations of the flight route of unmanned aerial vehicles from a given trajectory, measured by means of inertial navigation in conditions of loss of signals from navigation satellites. The proposed approach, in comparison with known methods, makes it possible to reduce the number of processes corresponding to points on overlapping images by three times. This makes it possible to significantly reduce the level of computational and resource costs that the developed methodology has, provides a specification that is of great importance for using the developed methodology on board small-sized unmanned aerial vehicles.

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