The questions of mathematical interpretation of results of trajectory measurements are discussed in terms of increasing the accuracy of identification of bearings of unmanned aerial vehicles during their movement in a "swarm" - a group. Variants of identification of horizontal and spatial bearings are offered. For each of the variants, criteria are proposed for identifying the belonging of the measured values to the same object in the group and the conditions for achieving them. The situation of false positives is shown. It is determined that additional identification measures are needed to eliminate false bearing triads and uncovered ambiguities, including the use of combinatorial exhaustive search algorithms. For their study, it is necessary to develop an experimental statistical model with an algorithmic description of cause-effect relationships, which is a further development of this work.
Keywords: " unmanned aerial vehicle, group of objects, bearing identification, horizontal bearing, spatial bearing, identification criteria, false notch"
The problems of studying the mathematical interpretation of the results of trajectory measurements in terms of increasing the accuracy of identification of bearings of unmanned aerial vehicles during their movement in the group "swarm" and "system" are discussed. The variants of identification of horizontal (IHP) and spatial bearings (PPI) are proposed both separately and in a complementary application. Identification of bearings of similar objects in the swarm type group is expedient to be carried out according to the IGP-IPP algorithm. However, it is only partly operational at distances of 3 km or more. As the main algorithm for identifying bearings of similar objects in the "Story" group, it is advisable to use IPP. Although these algorithms achieve high identification efficiency under favorable conditions, with tougher conditions, they drop rather sharply. Therefore, to maintain a high level of probability of "pure" identification, it is advisable to use additional measures to combat false triads. For the removal of problems, it is necessary to develop and apply combinatorial algorithms for exhaustive search, which is the direction for the development of further research.
Keywords: unmanned aerial vehicle, group of objects, bearing identification, horizontal bearing, spatial bearing, identification criteria, false notch
Laser tracking locators have certain drawbacks, among which there is a strong influence of the atmosphere on their energy and precision parameters, the process of aiming a narrow beam at the object, etc. High requirements for locators (the error of measuring the range to a few centimeters) lead to the need to take into account the state of the atmosphere on the route for application Corrections in the measurements. In particular, the phenomenon of refraction leads to a significant distortion of the signal. To reduce the error of distance measurements it is advisable to use methods to compensate for the effect of refraction or to take it into account and use the correction coefficients. The article shows that the effective solution to this problem in the absence of the possibility of obtaining operational and accurate information about meteorological parameters is the use of parallel laser probing of the atmosphere. More promising in this case is the use of laser methods for controlling atmospheric parameters, which we described and experimentally investigated at the Chauda, Feodosiya, and the Republic of Crimea provinces. The obtained atmospheric data were used to create a mobile laser-television locator for external-trajectory measurements of the descent of the aeroelastic systems "Kafa" and were installed both on the ground and on an air balloon. The trajectories of the descent of balloons and cargo parachute systems were studied.
Keywords: Laser tracking locator, ranging channel, atmospheric effect, refraction, model compensation method, laser probing
Refraction has a strong influence on the accuracy parameters of the range-finding tract of laser tracking locators and the process of directing a narrow laser beam onto the object. High requirements for locators (the error of measuring the range to a few dozen centimeters) lead to the need to take refraction into account for making corrections to the measurements. Significant distortion of the signal leads not only to the phenomenon of static refraction, but also dynamic. To reduce the error of distance measurements it is advisable to use methods to compensate for the effect of static refraction or to take it into account and use the correction coefficients. The article shows that the most effective solution to the problem of refraction in the presence of a dynamic component is also the use of parallel laser probing of the atmosphere, but it must be carried out at two different wavelengths. In this case, the main method of calculating the correction factors is the dispersion method, which makes it possible to reduce the relative measurement error to 106. The use of laser methods for controlling atmospheric parameters, including two-wave and two-frequency ones, was described by us and experimentally investigated at the Chauda, Feodosiya, and the Republic of Crimea fires on YAG: Nb3 + IZ-25 lasers and continuous lasers . The obtained atmospheric data on the LT-5Z laser were used to create a mobile laser-television locator for external-trajectory measurements of the descent of the aerial systems "Kafa +" and were installed both on the ground and on an air balloon. The flight trajectories of balloons and the descent of cargo parachute systems were studied.
Keywords: Laser tracking locator, ranging channel, atmospheric effect, static refraction, dynamic refraction, dispersion compensation method, laser two-wave probing of the atmosphere