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Applied Physics and Mathematics Annotation << Back
MOTION CONTROL OF UNMANNED AERIAL VEHICLE USING
OPTICAL BEACONS |
V.G. REUTOV, D.A. SHELOMANOV
The method of control unmanned aerial vehicles (UAV), to
solve various problems of monitoring the Earth’s surface
to assess the condition of natural and man-made objects.
The proposed method allows for autonomous flight of the
UAV on a given route within a certain area, for example,
a particular forest, pond, city etc., with the operator only
during takeoff and landing. The implementation of such
a regime is achieved using optical beacons – radiation
sources located along the perimeter of the considered
areas of the earth, and opto-electronic system, located
on board the UAV and shall identify the received signals
to specific sources of radiation and measuring the
angular position of beacons associated with the UAV
system coordinates. Reduction of estimation errors of
coordinates and rotation angles of the body of the UAV
can be achieved by increasing the number of beacons
and the introduction of optimal filtration of the resulting
estimates of coordinates and rotation angles of UAV
using UAV motion model. Considered control method is
illustrated by an example of mathematical modeling of the
evaluation process of coordinates and rotation angles of
UAV body moving along a predetermined path in the area,
which are located 8 optical beacons on the periphery.
Keywords: unmanned aerial vehicle, monitoring the Earth’s surface,
the optical beacons, motion control.
Contacts: E-mail: sheloman@rambler.ru
Pp. 07-11. |
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