Architecture and Mathematical Support of Intelligent Control System For Small UAV

Abstract

We consider the actual problem of organizing the processing of information and control flows in on-board computers with limited computing resources to support UAV autonomous functioning. The relevance of the problem is determined by the requirement to equip small size unmanned aircraft systems with the hardware and software for processing telemetry target data streams received from technical vision and control systems that can operate in real time. We study the bit-parallel representation of the "rotate" operation intended for fast implementation in on-board specialized computers of an aircraft. The technique of converting an iterative representation to bitwise is demonstrated, which opens the way to parallel computations in the specialized devices based on multi-input adders. The operation "rotate" is essentially used in controlling on-board video cameras and other rotary drives, as well as for calculating trigonometric functions. Technical means for processing data streams are combined into a uniform complex for solving trajectory problems on modern computing platforms.