METHOD OF SECONDARY PROCESSING IN CORRELATION-EXTREMAL NAVIGATION SYSTEMS OF UNMANNED AERIAL VEHICLE

Abstract

For the synthesis of reference images to calculate the coordinates of the intersection points of the axes of directional diagrams partial antenna system from the ground and determine the type of underlying surface for each such point identification according to aerial photographs. The purpose of the article is to develop a method for the formation of reference images of combined correlation-extreme navigation systems using geometrically related objects as an invariant informative feature and a method for forming a unimodal solving function that takes into account the three-dimensional form of the surface of objects of vision and the change of spatial position and orientation safe little apparatus. Research results. A method is developed for the formation of a reference image of the docking area for unmanned aerial vehicles, which provides the possibility of forming a decisive function for both radiometric and optoelectronic channels for the formation of current images. The formation of reference images is suggested to be performed by constructing selective images of the set of the brightest stationary objects of the sighting surface that create additional geometric invariants and provide an increase in the accuracy of the positioning of the unmanned aerial vehicle by adapting them to both perspective and to large-scale distortions of the sighting surface images. A method is developed for the formation of a unimodal decision function of a combined correlationextreme navigation system that takes into account the three-dimensional shape of the sighting object objects, the change in the spatial position and orientation of the unmanned aircraft, and errors due to the location of the free-of-charge inertial navigation systems.