S.M. Vishnyakov - Lead Software Developer, LTD «Special Technological Center» (St. Petersburg). E-mail: vishnyakov@stc-spb.ru N.V. Filchenko - Software Developer, LTD «Special Technological Center» (St. Petersburg). E-mail: nfilchenko@stc-spb.ru

Tactical unmanned aircraft vehicles (UAV) are widely used nowadays not only for surveillance, but also for calculation of ground objects coordinates [1]. Mathematical model, which describes proposed in [2,3] method of ground objects positions calculation with electro-optical payloads on tactical unmanned aircraft vehicles, is considered. Proposed model provides a way of estimation impact of various flight parameters and their measure inaccuracy on error of ground objects positions calculation. Flight parameters such as UAV coordi-nates and orientation angles, timeline gap between telemetry measurement and photo frame capture moments are considered. Basing on proposed model, impact of inaccuracy of measuring UAV orientation and position on total calculation error is demonstrated for various flight heights and various inaccuracy values. Also impact of delay between navigation measure and camera shot is demon-strated. Following conclusions were made: within flight height over 1000 meters above the ground the most significant part of ground object coordinates calculation error is contributed from inaccuracy in UAV orientation angle measures. Thus, to provide ground object calculation with root mean square (RMS) of 50 meters one should ensure measurement of UAV orientation angles with RMS less than 1° and coordinates with RMS less than 15 meters. On this basis several ways of improving accuracy of ground objects position calculation are proposed. These propositions were implemented in Orlan-10 UAV modification UAV equipped with photo camera and precise orientation measurement device, which provides measure of UAV orientation angles with RMS equal to 0,1°. This accuracy along with typical accuracy of GPS/GLONASS navigation devices, basing on considered model, allows expecting RMS of ground object calculation less than 20 meters within flight height about 2000 meters. This prediction was checked for consistency with experimental data, which provided RMS of ground object calculation equal to 19 meters.

 

1. Goncharov I.N., Vishnjakov S.M., Filchenko N.V.Perspektivy ispolzovanija bespilotnykh letatelnykh apparatov malojj dalnosti dlja opredelenija koordinat obektov // Materialy 49-jj VNK MVAA. 2014.
2. Ivanov JU.V., Naumov A.S., Sajapin V.N. i dr. Sposob i ustrojjstvo opredelenija koordinat istochnika radioizluchenija: patent 2419106 RF, MPK G01S 13/46 (2006.01). Zajavl. 09.11.2009. Opubl. 20.05.2011. Bjul. № 14.
3. Vishnjakov S.M., Davydenko A.S., Mitjanin A.G. i dr. Sposob i ustrojjstvo opredelenija koordinat obektov: patent 2513900 Rossijjskaja Federacija, MPK G01S 13/46 (2006.01). Zajavl. 06.12.2012. Opubl. 20.04.2014. Bjul. № 11.
4. Szeliski, Richard. Computer Vision: Algorithms and Applications. Springer. 2010.