V.A. Pogorelov – Dr.Sc.(Eng.), Leading Research Scientist, 

FSUE «RNIIRS» FRPC

A.O. Semiletkin – Leading Software Engineer, 

FSUE «RNIIRS» FRPC

A.V. Tsitsilin – Engineer, 

FSUE «RNIIRS» FRPC

K.T. Lomtatidze – Engineer, 

FSUE «RNIIRS» FRPC

The solution of the problem of estimating the motion parameters of a small unmanned aerial vehicle (SUAV) in the autonomous operation mode is presented. A stochastic model of an SUAV navigation and telecommunications system (NTS) in the form of an objectobserver is built. The main features of the constructed model are, firstly, the absence of any simplifying assumptions about the motion of the SUAV and distribution of the measurement noise of system’s sensitive elements, secondly, the use of the basic equation of inertial navigation for the synthesis of the observation equation and third, the presence of noise correlation between object and observer. Based on the Kalman filter, a filtering algorithm for correlated noise measurements in the NTS has been developed. The results of simulation modeling are presented. They testify to the possibility of using the approach developed in the article in modern and prospective NTS, which functioning in the absence of global satellite navigation systems signals.

1. Brian L. Stevens, Frank L. Lewis, Eric N. Johnson. Aircraft Control and Simulation: Dynamics, Controls Design and Autonomous Systems. Edition 3rd. John Wiley & Sons. 2016. 749 p.
2. Reg Austin. Unmanned Aircraft Systems – UAVS Design, Development and Deployment. John Wiley & Sons. 2011. 372 p.
3. Mohinder S. Grewal, Angus P. Andrews, Chris G. Bartone. Global navigation satellite systems, inertial navigation, and integration. John Wiley & Sons. 2013. 561 p.
4. Pogorelov V.A. Perspektivy primeneniya bespilotnykh letatelnykh apparatov v stroitelstve. Inzhenernyi vestnik Dona. 2016. № 1(40). S. 58−64. (in Russian)
5. Sovremennye informatsionnye tekhnologii v zadachakh navigatsii i navedeniya bespilotnykh manevrennykh letatelnykh apparatov. Pod red. M.N. Krasilshchikova, G.G. Sebryakova. M.: Fizmatlit. 2009. 556 s. (in Russian)
6. Sokolov S.V., Pogorelov V.A. Stokhasticheskaya otsenka, upravlenie i identifikatsiya v vysokotochnykh navigatsionnykh sistemakh. M.: Fizmatlit. 2016. 264 s. (in Russian)
7. Sokolov S.V., Pogorelov V.A. Osnovy sinteza mnogostrukturnykh besplatformennykh navigatsionnykh sistem. M.: Fizmatlit. 2009. 190 s. (in Russian)
8. Pogorelov V.A. O primenenii parametrov Keili-Kleina dlya sinteza stokhasticheskogo vektora sostoyaniya besplatformennoi navigatsionnoi sistemy avtonomnogo letatelnogo apparata. Avtomatika i telemekhanika. 2008. № 8. S. 48−55. (in Russian)
9. Pogorelov V.A., Sokolov S.V. Reshenie zadachi tesnoi integratsii sputnikovoi i inertsialnoi platformennoi navigatsionnoi sistemy. Kosmicheskie issledovaniya. 2015. T. 53. № 6. S. 497−508. (in Russian)
10. Matveev V.V., Raspopov V.Ya. Osnovy postroeniya besplatformennykh inertsialnykh navigatsionnykh sistem. Pod obshch. red. d.t.n. V.Ya. Raspopova. SPb.: GNTs RF OAO «Kontsern «TsNII «Elektropribor». 2009. 280 s. (in Russian)
11. Malyutin D.M., Malyutina M.D. Informatsionno-izmeritelnaya i upravlyayushchaya sistema bespilotnykh letatelnykh apparatov na mikromekhanicheskikh chuvstvitelnykh elementakh povyshennoi tochnosti. Izvestiya VUZzov. Aviatsionnaya tekhnika. 2014. № 2. S. 39−43. (in Russian)
12. Matveev V.V., Raspopov V.Ya. Pribory i sistemy orientatsii, stabilizatsii i navigatsii na MEMS datchikakh. Tula: Izd. TulGU. 2017. 225 s. (in Russian)
13. Salychev O.S. MEMS-based inertial navigation: expectations and reality. M.: BMSTU-Press. 2012. P. 208.
14. Rozenberg I.N. Teoreticheskie osnovy tesnoi integratsii inertsialno-sputnikovykh navigatsionnykh sistem. M.: Fizmatlit. 2018. 312 s. (in Russian)
15. Emelyantsev G.I., Stepanov A.P. Integrirovannye inertsialno-sputnikovye sistemy orientatsii i navigatsii. Pod obshch. red. akad. RAN V.G. Peshekhonova. SPb.: GNTs RF AO «Kontsern «TsNII «Elektropribor». 2016. 394 s. (in Russian)
16. Anuchin O.N., Emelyantsev G.I. Integrirovannye sistemy orientatsii i navigatsii dlya morskikh podvizhnykh ob’ektov. Pod obshch. red. akad. RAN V.G. Peshekhonova. SPb: GNTs RF TsNII «Elektropribor». 2003. 390 s. (in Russian)
17. Interface Control Document: NAVSTAR GPS Space Segment. Navigation User Interfaces (ICD-GPS-200). Rockwell Int. Corp. 1987. 3427. https://www.gps.gov/technical/icwg/.
18. Perov A.I., Kharisov V.N. GLONASS. Printsipy postroeniya i funktsionirovaniya. M.: Radiotekhnika. 2010. (in Russian)
19. Dyatlov A.P., Dyatlov P.A., Kulbikayan B.Kh. Radiopodavlenie apparatury potrebitelei sputnikovoi radionavigatsionnoi sistemy «Navstar» signalopodobnymi pomekhami. Izvestiya VUZov. Severo-Kavkazskii region. 2004. № 4(128). S. 19−22. (in Russian)
20. Kerns A.J., Shepard D.P., Bhatti J.A., Humphreys T.E. Unmanned aircraft capture and control via GPS spoofing. Journal of Field Robotics. 2014. V. 31. № 4. P. 617−636.
21. Bhatti J., Humphreys T. Hostile control of ships via false GPS signals: Demonstration and detection, submitted to Navigation (in review). 2015.
22. Smolentsev S.V. Opredelenie koordinat mobilnykh abonentov v setyakh sotovoi svyazi standarta GSM. Giroskopiya i navigatsiya. 2006. № 4(55). S. 41−53. (in Russian)
23. Pogorelov V.A., Sokolov S.V., Semiletkin A.O. Reshenie zadachi navigatsii BPLA na ortodromii. Tr. FGUP «NPTs AP» Sistemy i pribory upravleniya. 2018. № 1. S. 67−69. (in Russian)
24. Metody sputnikovogo i nazemnogo pozitsionirovaniya. Perspektivy razvitiya tekhnologii obrabotki signalov. Pod red. D. Dardari, E. Falletti, M. Luize. M.: Tekhnosfera. 2012. 528 s. (in Russian)
25. Ponomarev L.I. Sovremennye radiovysotomery v sistemakh upravleniya i navigatsii. Sostoyanie, problemy, perspektivy. 8-ya Sankt-Peterburgskaya Mezhdunar. konf. po integrirovannym navigatsionnym sistemam. 28−30 maya 2001. SPb.: TsNII «Elektropribor». 2001. S. 110−112. (in Russian)
26. Sinitsyn I.N. Filtry Kalmana i Pugacheva. M.: Logos. 2006. 640 s. (in Russian)
27. Ishlinskii A.Yu. Orientatsiya, giroskopy i inertsialnaya navigatsiya. M.: Nauka. 1976. 672 s. (in Russian)
28. Tikhonov V.I., Kharisov V.N. Statisticheskii analiz i sintez radiotekhnicheskikh ustroistv i sistem. M.: Radio i svyaz. 1991. 608 s. (in Russian)
29. Sokolov S.V., Kovalev S.M., Kucherenko P.A., Smirnov Yu.A. Metody identifikatsii nechetkikh i stokhasticheskikh sistem. M.: Fizmatlit. 2018. 432 s. (in Russian)