{"title":"在没有无线电通信的情况下,无人驾驶飞机的自动驾驶系统","authors":"Tetyana Shabelnik, Serhii Krivenko, Olena Koneva","doi":"10.28925/2663-4023.2020.9.93103","DOIUrl":null,"url":null,"abstract":"One of the most pressing problems of piloting unmanned aerial vehicles (UAV) in the absence of radio communication is considered in the article. Therefore, the aim of the article is to develop an algorithm and method of automatic piloting of UAV in terms of loss of radio control signal using the methods of technical vision. The most effective methods of tracking, identification and detection of landmarks are based on the comparison of reference information (database of known navigation objects) with the observation scene in real time.Working system of automatic piloting of UAVs in the conditions of loss of radio control signal or GPS-navigation developed. The hardware and software of the UAV provides full automatic control. The programming of the system consists of two stages: planning the flight task and calculating the trajectory of the UAV in flight. The planning of the flight task is carried out by setting the topographic landmarks and flight parameters in relation to them. At this stage, the criteria for the generalization of the various components of the landscape are formed and their division by gradations. This work is combined with the recognition of points with altitude marks, and fixing the heights of horizontal surfaces available in the area. All horizontal surfaces are tied with the shortest shooting strokes to at least of three points with elevations. The process of topography-based object selection is directly related to its segmentation, the results of which significantly affect the further process of image analysis and UAV control. The calibration of the starting point of the route occurs during the launch of the UAV. The control system automatically monitors the location of the UAV throughout the trajectory of the movement on a topographic basis relative to the prespecified landmarks. Structured shots of the terrain and topographic bases are compared during the flight. The algorithm is based on the comparison of geometric parameters of landmarks. The parameters of the geometric center O(x, y) and the area S are taken into account by such parameters. The control signal in the three axes OX, OY and OZ is determined for the first time by the method of least squares depending on the values of the calculated coefficients of the original equations.","PeriodicalId":198390,"journal":{"name":"Cybersecurity: Education, Science, Technique","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"AUTOMATIC PILOT SYSTEM FOR UNMANNED OF AIRCRAFT IN THE ABSENCE OF RADIO COMMUNICATION\",\"authors\":\"Tetyana Shabelnik, Serhii Krivenko, Olena Koneva\",\"doi\":\"10.28925/2663-4023.2020.9.93103\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"One of the most pressing problems of piloting unmanned aerial vehicles (UAV) in the absence of radio communication is considered in the article. Therefore, the aim of the article is to develop an algorithm and method of automatic piloting of UAV in terms of loss of radio control signal using the methods of technical vision. The most effective methods of tracking, identification and detection of landmarks are based on the comparison of reference information (database of known navigation objects) with the observation scene in real time.Working system of automatic piloting of UAVs in the conditions of loss of radio control signal or GPS-navigation developed. The hardware and software of the UAV provides full automatic control. The programming of the system consists of two stages: planning the flight task and calculating the trajectory of the UAV in flight. The planning of the flight task is carried out by setting the topographic landmarks and flight parameters in relation to them. At this stage, the criteria for the generalization of the various components of the landscape are formed and their division by gradations. This work is combined with the recognition of points with altitude marks, and fixing the heights of horizontal surfaces available in the area. All horizontal surfaces are tied with the shortest shooting strokes to at least of three points with elevations. The process of topography-based object selection is directly related to its segmentation, the results of which significantly affect the further process of image analysis and UAV control. The calibration of the starting point of the route occurs during the launch of the UAV. The control system automatically monitors the location of the UAV throughout the trajectory of the movement on a topographic basis relative to the prespecified landmarks. Structured shots of the terrain and topographic bases are compared during the flight. The algorithm is based on the comparison of geometric parameters of landmarks. The parameters of the geometric center O(x, y) and the area S are taken into account by such parameters. The control signal in the three axes OX, OY and OZ is determined for the first time by the method of least squares depending on the values of the calculated coefficients of the original equations.\",\"PeriodicalId\":198390,\"journal\":{\"name\":\"Cybersecurity: Education, Science, Technique\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Cybersecurity: Education, Science, Technique\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.28925/2663-4023.2020.9.93103\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Cybersecurity: Education, Science, Technique","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.28925/2663-4023.2020.9.93103","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
AUTOMATIC PILOT SYSTEM FOR UNMANNED OF AIRCRAFT IN THE ABSENCE OF RADIO COMMUNICATION
One of the most pressing problems of piloting unmanned aerial vehicles (UAV) in the absence of radio communication is considered in the article. Therefore, the aim of the article is to develop an algorithm and method of automatic piloting of UAV in terms of loss of radio control signal using the methods of technical vision. The most effective methods of tracking, identification and detection of landmarks are based on the comparison of reference information (database of known navigation objects) with the observation scene in real time.Working system of automatic piloting of UAVs in the conditions of loss of radio control signal or GPS-navigation developed. The hardware and software of the UAV provides full automatic control. The programming of the system consists of two stages: planning the flight task and calculating the trajectory of the UAV in flight. The planning of the flight task is carried out by setting the topographic landmarks and flight parameters in relation to them. At this stage, the criteria for the generalization of the various components of the landscape are formed and their division by gradations. This work is combined with the recognition of points with altitude marks, and fixing the heights of horizontal surfaces available in the area. All horizontal surfaces are tied with the shortest shooting strokes to at least of three points with elevations. The process of topography-based object selection is directly related to its segmentation, the results of which significantly affect the further process of image analysis and UAV control. The calibration of the starting point of the route occurs during the launch of the UAV. The control system automatically monitors the location of the UAV throughout the trajectory of the movement on a topographic basis relative to the prespecified landmarks. Structured shots of the terrain and topographic bases are compared during the flight. The algorithm is based on the comparison of geometric parameters of landmarks. The parameters of the geometric center O(x, y) and the area S are taken into account by such parameters. The control signal in the three axes OX, OY and OZ is determined for the first time by the method of least squares depending on the values of the calculated coefficients of the original equations.