CONTROL AND ANALYSIS OF QUADROCOPTER FLIGHT WHEN SETTING A COMPLEX TRAJECTORY OF MOTION

The article present the solution to the problem of autonomous piloting of a quadcopter for a complex flight task to determine the positioning error. Mathematical model is proposed for the equation of the dynamics of angular motion in a connected coordinate system to solve this problem. The stages of elaboration and creation of a flight task are considered, a model based on directed graphs is presented, reflecting various options for organizing the movement of a quadrocopter. Klever quadrocopters were taken as the object of research. The study was carried out in the airfield of the laboratory of unmanned aerial systems of the SUAI. Fragments of the program code for the implementation of autonomous piloting in Python are given. The flight mission consisted in the formation of the letters SUAI in space. The article discusses the necessary hardware, instrumental systems and camera modes of operation for fixing the movement of the quadcopter. As a result of the reserch, special photographs of the movement of the quadrocopter are taken and the permissible range of positioning errors is determined for performing the flight task. Key words: unmanned aerial vehicles, quadrocopter klever, autonomous flight, trajectory motion control, setting the trajectory of motion, aruco markers, positioning error, spatial movement.