RU2481557C1 - Method for navigation of moving objects - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: reference map is used. A reference object (RO) is selected on said map. A first current map of the RO is obtained. The first current map of the RO is converted to a digital image thereof. The RO is identified on the digital image. The position and spatial parameters of the RO on the digital image are determined. The digital image of the first current and reference maps of the RO are compared by adjusting parameters of the RO on the digital image of the first current map until match with parameters of the RO on the digital image of the reference map. Coordinates of the RO are determined. The first position of the moving objects (MO) in plane coordinates of the reference map is determined. A second current map of the RO is obtained a fixed time interval At after obtaining the first current map of the RO. The second position of the MO in plane coordinates of the reference map is obtained in the same manner as the first position. The direction of movement and speed of the MO are determined. A third current map of the RO is obtained a time interval At after obtaining the second current map of the RO. The third position of the MO in plane coordinates of the reference map is obtained in the same manner as the first position. The direction of movement and speed of the MO are corrected. The acceleration of the MO is determined. A motion path adjustment signal is calculated and movement of the MO is controlled.

EFFECT: broader navigation capabilities.

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Description

The invention relates to the field of navigation of moving objects and can be used to build various location systems designed to clarify the location of any moving objects (TO) and control their movement.

There is a method of orientation on the ground [1], based on the use of digital models of the terrain, which consists in measuring the coordinates of the object, the coordinates of the observer and transmitting them for processing, as well as in the additional orientation of the observer, taking into account target designation and determining the mismatch of the given and current coordinates, and the observer scans the terrain with the fixation of the readings of the azimuth and elevation angle, as well as the fixation of the readings of its own coordinates when it detects an object Directions that are used for control, and, using a digital model of the terrain for observation and a database for target distribution, apply data on the locations of observers and targets from the database for target distribution to a digital model of the terrain, and then transmit data on the relative the location of the observer and the target distributed to him in the control system, which compares them with the azimuth and elevation data, and the resulting difference signal is used to change process of scanning by an observer.

The disadvantages of the method [1] are:

- lack of automation of the positioning process, as observers are involved;

- low speed, since information is being collected from observers to process information;

- low noise immunity, since satellite signals are used in the measurement process;

- an active mode of operation, since observers use individual transmitters and the process of signal emission is present.

Known methods of navigation DO [2], based on a comparison of current maps of the area obtained using radio waves, with reference maps of the same area, which are based on determining the location of DO with subsequent control of DO movement by correcting their location. Reference cards are installed on the DO before they begin to move, and the current cards are removed during the flight of the DO. The deviation of the current maps of the area from the reference at a given point in the trajectory of movement to determine the deviation of the actual trajectory from a given. As a result, the correction to the BS location is determined in order to correct their movement.

The disadvantages of the method [2] are the lack of information about the current location of DO during the movement; insufficient performance, since the motion correction signal DO is generated only after passing the entire specified section, and the active mode of operation, since radio waves are used to obtain current terrain maps.

A known method of navigation BEFORE [3], selected for the prototype. The implementation of the method [3] is as follows. The method [3] refers to the passive, since the processes of signal emission during navigation of the DO are not used, but only reception, which ensures the secrecy of the DO.

Use the information of the reference map of the area about the navigation field of the Earth, containing digital information about the location and spatial parameters of reference objects (PO).

Select a site on the reference map, which is a measured site.

Selected on the measured area of the RO, the planned coordinates and spatial parameters of which are known with the greatest accuracy. Use the reference map of the measured area with the selected RO.

The current values of the roll and pitch angles and course are measured inertially.

Without signal emission (by the passive method), one current PO map (RO region) is obtained when the BS moves above the measured section in the form of one image of the measured section in one or several wavelength ranges.

Convert the current RO map to a digital image of the RO region.

The ROs are recognized in a digital image of the RO region.

The parameters of the PO are determined on a digital image of the area of the PO.

Compare the reference and current cards by combining them. Comparison of the reference and current maps of the RO is carried out by fitting the parameters of the RO in the digital image of the region of RO to match the parameters of the RO in the digital image of the reference map of the RO. Comparison is based on roll angle, pitch and course information.

The location of the DO in the planned coordinates of the measuring section and the spatial displacement of the RO in the digital image of the region of the RO relative to the RO in the digital image of the reference map of the RO are determined.

The BS location correction signal is calculated based on an analysis of the mutual displacements of the reference and current terrain maps of the measured area.

Control the movement of DO by correcting its location.

The disadvantages [3] are not wide enough possibilities of the method - the inability to determine the speed and acceleration of moving objects.

It is important to note that the development of navigation systems is greatly influenced by the over-maneuverability of DOs, in particular aircraft [4], which necessitates the determination of speed, change of speed (acceleration) and its direction for DOs while observing stealth due to passive operation.

The technical result of the invention is to expand the capabilities of the navigation method by determining the speed and acceleration of moving objects while maintaining the noise immunity of the method while providing stealth navigation.

The technical result is achieved by the fact that in the method of navigation of moving objects, which consists in using a reference terrain map containing reference objects whose coordinates are known, selecting a reference object within the reference map, obtaining one current map of a reference object, converting the current map of a reference object into a digital image recognition of a reference object in a digital image of the current map, determining the location and spatial parameters of a reference object in a digital image pressing the current map, comparing the current and reference maps of the reference object by adjusting the parameters of the reference object in the digital image of the current map to match the parameters of the reference object in the digital image of the reference map, determining the coordinates of the reference object, determining the location of a moving object in the planned coordinates of the reference map, calculating the signal correction of the trajectory of movement and control of the movement of a moving object by correcting its location, before calculating the correction signal and after a time interval Δt after receiving the first current map of the reference object, a second current map of the reference object is obtained, the second current map of the reference object is converted into a digital image of the second current map, the reference object is recognized in the digital image of the second current map, the location and spatial parameters of the reference object are determined on digital image of the second current card, compare the second current and reference cards of the reference object by fitting the parameters of the reference object to digital in the second current map image, to match the parameters of the reference object in the digital image of the reference map, determine the coordinates of the reference object, determine the second location of the moving object in the planned coordinates of the reference map, determine the direction of movement and speed of the moving object, get the third current map of the reference object after a time interval Δt after receiving the second current map of the reference object, convert the third current map of the reference object into a digital image of the third of the current map, the reference object is recognized on the digital image of the third current map, the location and spatial parameters of the reference object are determined on the digital image of the third current map, the third current and reference maps of the reference object are compared by fitting the parameters of the reference object on the digital image of the third current map to match the parameters the reference object on the digital image of the reference map, determine the coordinates of the reference object, determine the third location of the moving The object plane coordinates in a reference map, specify the direction and speed of the moving object, determine the acceleration of the moving object, calculating a correction signal path of movement and controlling the movement of a moving object by correcting its location.

The technical result is achieved by the fact that, when implementing the navigation method BEFORE, in addition to one (first) current terrain map, second and third current maps are obtained at regular intervals, which determine the first, second and third locations of a moving object in the planned coordinates of the reference map for determining speed ( second location) and acceleration (third location) and the direction of movement of DO.

The navigation method TO explain the following drawings:

- figure 1 presents the first map of the measured area and indicates the planned coordinates of the point (x ₁ , y ₁ ) corresponding to the first location of the moving object in the planned coordinates of the measured area of the reference map at time t ₁ (the moment of receiving the first current map of the reference object); direction of movement DO;

- figure 2 presents the second map of the measured area, which shows the planned coordinates of the points (x ₁ , y ₁ ) and (x ₂ , y ₂ ) corresponding to the first and second location of the moving object in the planned coordinates of the measured area of the reference map at time t ₁ and t ₂ = t ₁ + Δt (moments of receiving the first and second current cards of the reference object); direction of movement DO;

- figure 3 presents the third map of the measured area, which shows the planned coordinates of the points (x ₁ , y ₁ ), (x ₂ , y ₂ ) and (x ₃ , y ₃ ) corresponding to the first, second and third locations of the moving object in the planned coordinates of the measured area of the reference map at time t ₁ , t ₂ = t ₁ + Δt and t ₃ = t ₂ + Δt (moments of receiving the first, second and third current maps of the reference object); and the specified direction of movement of DO;

- figure 4 shows the change in the size of the PO when changing the angle of sight to the horizon by an angle θ = 30 °;

- figure 5 shows the change in the size of the RO when changing the viewing angle in the azimuthal plane by an angle α = 30 °;

- figure 6 shows the change in the size of the PO when the angle of sight in the radial plane changes by an angle β = 30 °;

- figure 7 shows the change in the size of the RO with a decrease in the scale of approximation.

To determine the speed, you can use the change in the Doppler frequency [4, 5]. However, in the general case, any methods for determining the velocity are applicable and the method does not use Doppler frequency.

The value of speed and acceleration is used to correct the navigation system, which improves the accuracy of determining the location of DO.

The navigation method DO is as follows.

Use the information of the reference map of the area about the navigation field of the Earth, containing digital information about the location and spatial parameters of the RO.

Select a site on the reference map, which is a measured site.

Selected on the measured area of the RO, the planned coordinates and spatial parameters of which are known with the greatest accuracy. Use the reference map of the measured area with the selected RO.

The current values of the roll and pitch angles and course are measured inertially.

Get the first current map of the RO (region RO) when moving DO above the measured area in the form of the first image of the measured area in one or more wavelength ranges in the passive mode of operation.

The first current map of the RO is converted into a digital image of the RO region.

The ROs are recognized in a digital image of the RO region.

The parameters of the PO are determined on a digital image of the area of the PO.

Compare the reference and the first current map of the RO by combining them. Comparison of the reference and current maps of the RO is carried out by fitting the parameters of the RO in the digital image of the region of RO to match the parameters of the RO in the digital image of the reference map of the RO. Comparison is based on roll angle, pitch and course information.

Determine the spatial displacement of the RO in the digital image of the region of the RO with respect to the RO in the digital image of the reference map of the RO.

The first BS location is determined in the planned coordinates of the measuring section of the reference map.

A second current PO map (region RO) is obtained after a time interval Δt after receiving the first current PO map when the DO moves above the measured section in the form of a second image of the measured section in one or more wavelength ranges in the passive mode of operation.

The second current map of the PO is converted into a second digital image of the region of PO.

The POs are recognized in the second digital image of the PO region.

The parameters of the PO are determined in the second digital image of the PO region.

Compare the reference and second current cards by combining them. Comparison of the reference and current maps of the RO is carried out by fitting the parameters of the RO in the digital image of the region of RO to match the parameters of the RO in the digital image of the reference map of the RO. Comparison is based on roll angle, pitch and course information.

The spatial displacement of the RO in the second digital image of the region of the RO relative to the PO in the digital image of the reference map of the PO is determined.

Determine the second location before in the planned coordinates of the measured area.

The direction and speed V = V ₁ of the DO motion is determined based on the analysis of the distance traveled during the Δt time between the found first and second DO locations in the planned coordinates of the measured portion of the reference map.

Get the third current map of the PO (region of RO) after a time interval Δt after receiving the second current map of the PO when moving DO above the measured section in the form of a third image of the measured section in one or more wavelength ranges in the passive mode.

Convert the third current map of the RO into the third digital image of the region of RO.

The ROs are recognized in the third digital image of the RO region.

The parameters of the PO are determined in the third digital image of the PO region.

Compare the reference and third current maps of the RO by combining them. Comparison of the reference and third current maps of the RO is carried out by fitting the parameters of the RO in the third digital image of the region of RO to match the parameters of the RO in the digital image of the reference map of the RO. Comparison is based on roll angle, pitch and course information.

The spatial displacement of the RO in the third digital image of the region of the RO relative to the PO in the digital image of the reference map of the PO is determined.

The third location of the BS is determined in the planned coordinates of the measuring section of the reference map.

The direction and speed (average) V = V _sr of the DO motion are specified on the basis of the analysis of the distance traveled during the 2Δt distance between the first and third DO locations found in the planned coordinates of the measuring section of the reference map.

The acceleration a of the DO motion is determined based on the analysis of the change in time Δt of the velocity value from V ₁ to V ₂ . The velocity V _{2 of the} motion of the BS is determined based on the analysis of the distance traveled during the time Δt between the found second and third locations of the BS in the planned coordinates of the measuring section of the reference map.

The BS location correction signal is calculated based on the analysis of the received information.

Control the movement of DO by correcting its location.

The navigation method DO is implemented as follows.

Use the information of the reference terrain map installed on the BS before the start of the movement about the navigation field of the Earth, containing digital information about the location and spatial parameters of the RO. Each of the ROs is spatially distributed or consists of several spatially distributed objects.

On the reference map, a measured area is selected, the dimensions of which are determined by the value of the permissible deviations of the DO by the planned coordinates.

Selected on the measured area of the RO, the planned coordinates and spatial parameters of which are known with the greatest accuracy. Use the reference map of the measured area with the selected RO.

The current values of the roll and pitch angles and course are measured inertially.

The first current PO map is obtained when the DO moves above the measured section in the form of one image of the measured section in one or several wave ranges, such as in the infrared, video or radio ranges (one image in each range) using passive methods [6]. In the radio range, for example, using radio vision [7]. Receiving the emitted signal of one or more wavelength ranges, the first current PO map is obtained.

Receive after a time interval Δt after receiving the first current map PO the second current map PO when moving DO above the measured area. Receive through the time interval Δt after receiving the second current PO card the third current PO card when moving DO above the measured area.

The time interval Δt is selected from the condition

where t _{MIN is} determined on the basis of the need to pass at least two cells of the reference map (at least twice the error in determining the location of the PO) when moving DO with the minimum permissible speed. When the error in determining the location of the PO equal to one cell of the reference card, t _MIN is determined based on the condition of the need to pass two cells of the reference card.

t _{MAX is} determined on the basis of the need to find the DO within the measuring section when moving DO with the maximum allowable speed for a time of 2Δt.

Consider the algorithm for determining the location of DOs in the planned coordinates of the measuring section of the reference map using the example of the processing algorithm for the first current PO map.

Convert the first current map of the RO to the first digital image of the region of RO. The conversion algorithm includes the following operations:

- the combination of the center of the digital image of the region of RO with the axis of the receiver DO (direction perpendicular to the plane of the receiver, providing the signal with the highest value);

- the choice of the size of the digital image of the region RO, equal to the field of view of the receiver;

- determining the size of each pixel of the digital image of the region of PO as the ratio of the size of the field of view of the receiver to the number of pixels by the planned coordinates (x, y).

The choice of the transformation algorithm in the indicated form allows one to obtain a unique correspondence of the location of each pixel of the first digital image of the PO region with its angular position relative to the axis of the receiver.

The conversion of the RO on the first digital image of the region of the RO in accordance with the measured current values of the roll angles, pitch and course are as follows:

- by the value of the current roll angles, pitch and course at the moment of receiving the first current PO map, the offset of the axis of the DO receiver relative to the vertical is determined, with the help of which the current PO map (center of digital image of the RO area) is obtained;

- combine the center of the first digital image of the RO region with the vertical axis of the receiver by transferring the center of the digital image of the RO region to a point corresponding to the vertical projection on the digital image of the RO region;

- specify the size of the recognized RO caused by the current values of the roll angles, pitch and course;

- specify the coordinates of the center of gravity of the recognized PO in the planned coordinate system (x _C , y _C ) in accordance with formula (2), as well as the spatial orientation and dimensions of the recognized PO.

The determination of the coordinates of the center of gravity of the RO in the planned coordinate system is carried out using the expressions

where i, j are the abscissa and the ordinate of the PO, S is the area of the PO, h _ij is the parameter that is equal to one if the point belongs to the PO, and equal to zero if the point does not belong to it.

The refinement of the dimensions of the recognized RO necessary to take into account the current values of the roll angles, pitch and course is carried out as follows.

The change in roll (angle of sight θ to the horizon) is modeled by the rotation of the PO in the image plane. To do this, first transfer the origin to the center of the rectangle that describes the PO (the intersection point of its diagonals). Then, a rotation conversion is performed. After that, the origin is returned to the original point. To reduce the number of calculations, this transformation is performed using transformation matrices. Therefore, the conversion matrix is first calculated, and then for each point in the describing rectangle, the product of the coordinate vector by the transformation matrix is calculated

Here (x ', y', w ') are the homogeneous three-dimensional coordinates of the point on the plane after the transformation; (x, y, w) - homogeneous three-dimensional coordinates of a point on a plane before transformation; M - transformation matrix in the form

The change in the size of the PO when the angle of sight to the horizon line is changed by an angle θ = 30 ° is shown in Fig. 4, which shows the initial dimensions of the image of the PO in a dashed line, and the sizes of the PO after the conversion by a solid line.

The change in the course (the angle of sight α in the azimuthal plane) is modeled by the trapezoidal deformation of the RO with a decrease in the right or left side with an increase in the size of the RO along the X axis, larger than the Y axis.

,where d _α is the strain coefficient, defined as

,

;

- размер левой и правой боковых сторон четырехугольника соответственно.Here H 'is the dimensions of the lateral sides, and W' is the lower side of the quadrilateral described around the PO, after conversion (in pixels); H is the dimensions of the lateral sides, and W is the lower side of the quadrilateral described around the PO before conversion (in pixels).

;

- the size of the left and right sides of the quadrangle, respectively.

The change in the size of the RO when changing the viewing angle in the azimuthal plane by an angle α = 30 ° is shown in Fig. 5, which shows the initial dimensions of the RO image in a dashed line, and the solid dimensions after the conversion in a solid line.

The change in pitch (viewing angle β in the radial plane) is modeled by the trapezoidal deformation of the RO with a decrease in the upper or lower side with an increase in the size of the RO along the X axis, larger than the Y axis. The dimensions of the describing quadrilateral are determined as

.where d _β is the strain coefficient, defined as

.

;

- размер верхней и нижней сторон четырехугольника соответственно.

;

- the size of the upper and lower sides of the quadrangle, respectively.

The change in the size of the PO when the viewing angle in the radial plane is changed by an angle β = 30 ° is shown in FIG. 6, where the dotted lines show the initial dimensions of the image of the PO, the solid line shows the dimensions of the PO after conversion.

The ROs are recognized in the first digital image of the RO region. Recognition is performed using three-stage digital image processing of the PO region. At the first stage (segmentation stage), the region of PO is partitioned into its constituent images. At the second stage (the stage of formation of the analytical description) for each image, a set of classification features is calculated. At the third stage (classification stage), based on the obtained sets of classification features, the RA is recognized (classified) taking into account its spatial orientation.

The location and spatial parameters of the RO are determined in the first digital image of the RO region.

The coordinates of the center of gravity of the RO are determined in the planned coordinate system (x _C , y _C ) of the first digital image of the RO region to calculate its location parameters.

The spatial orientation of the RO is determined by constructing the major and minor major axes of the recognized RO conducted through its center of gravity. The angular position of the RO is determined by constructing the major and minor major axes in the planned coordinate system of the digital image of the RO region. The dimensions of the RO are determined by measuring the lengths of the large and small major axes of the recognized RO.

The parameters of the PO are determined on the first digital image of the PO region.

Compare the reference and the first current map of the RO by combining them. The combination of the reference and current maps (fitting the parameters of the PO on the digital image of the region of PO to match the parameters of the PO on the digital image of the reference map of the PO) is performed as follows:

- convert the RO in a digital image of the region of RO (location, spatial orientation and dimensions of the RO) in accordance with the measured current values of the angles of roll, pitch and azimuth;

- scale the RO (change the scale of approximation to the RO) on a digital image of the region of the RO in relation to the RO on the digital image of the reference map of the RO;

- combine the spatial orientation (spatial parameters) of the RO in the digital image of the region of RO and in the digital image of the reference map of the RO;

- combine the location (according to the planned coordinates) of the RO in the digital image of the RO region and in the digital image of the reference RO map.

The scaling of the RO in the digital image of the region of the RO with respect to the RO in the digital image of the reference map of the RO is performed by uniformly increasing the sizes of the ROs along the x and y axes (large and small major axes of the recognized PO), and the following conditions are simultaneously fulfilled:

Here H 'is the size of the side, and W' is the lower side of the quadrilateral described around the PO, after conversion (in pixels); H is the size of the side, and W is the bottom side of the quadrilateral described around the PO, before conversion (in pixels); Dx and Dy are the scaling factors (both are greater than one).

The change in the size of the PO with a decrease in the approximation scale is shown in Fig. 7, where the dotted lines show the initial dimensions of the image of the PO;

Alignment in spatial orientation (in spatial parameters) of the RO is performed by combining (turning) the RO (large and small main axes of the recognized RO) in a digital image of the region of RO with the RO (large and small main axes of the RO) in a digital image of the reference map of the RO.

Alignment by location (by planned coordinates) of the RO is performed as follows:

- specify the coordinates of the center of gravity of the recognized PO in the planned coordinate system in accordance with formula (1);

- combine the location of the RO (coordinates of the center of gravity of the recognized RO) on the digital image of the region of RO with the RO (coordinates of the center of gravity of the RO) on the digital image of the reference map of the RO.

These transformations provide a combination of the reference and current maps — fitting the parameters of the PO on the digital image of the region of PO to match the parameters of the PO on the digital image of the reference map of the PO.

The spatial displacement of the PO in the first digital image of the area of the RO relative to the PO in the digital image of the reference map of the PO and the offset of the location of the DO in the planned coordinates of the measured area are determined by the results of combining.

Similar operations are carried out for the second and third current cards.

Determine the direction and speed V _{1 of the} motion of the DO after finding the second location of the DO in the planned coordinates of the measuring section of the reference map (Fig. 1 - Fig. 2).

The velocity V _{1 of the} motion DO is defined as

where ΔS ₁ is the distance between the point with coordinates (x ₁ , y ₁ ) on the reference map (the first location of the DO in the planned coordinates of the measuring section of the reference map) and the point with coordinates (x ₂ , y ₂ ) on the reference map (the second location of the DO planned coordinates of the measured area of the reference map); Δt ₁ = Δt is the time interval between the time t ₁ at which the first current PO card was received and the time t ₂ = t ₁ + Δt at which the second current PO card was received.

из точки с координатами (x₁, y₁) в точку с координатами (x₂, y₂) в плановых координатах мерного участка эталонной карты.The direction of motion of DO is defined as the direction of the velocity vector

from a point with coordinates (x ₁ , y ₁ ) to a point with coordinates (x ₂ , y ₂ ) in the planned coordinates of the measuring section of the reference map.

They specify the direction and speed of the DO after finding the third location of the DO in the planned coordinates of the measured section of the reference map and determine the acceleration of the DO (Fig. 1 - Fig. 3).

The velocity V _{2 of the} motion DO is defined as

where ΔS ₂ is the distance between the point with coordinates (x ₂ , y ₂ ) on the reference map (the second location of the DO in the planning coordinates of the measuring section of the reference map) and the point with coordinates (x ₃ , y ₃ ) on the reference map (the third location of the DO in planned coordinates of the measured area of the reference map); Δt ₂ = Δt is the time interval between the time t ₂ at which the second current PO card was received and the time t ₃ = t ₂ + Δt at which the third current PO card was received.

The refined (average) V _cp speed of motion of DO is defined as

из точки с координатами (x₁, y₁) в точку с координатами (x₃, y₃) в плановых координатах мерного участка эталонной карты.The refined direction of motion of DOs is defined as the direction of the velocity vector

from the point with coordinates (x ₁ , y ₁ ) to the point with coordinates (x ₃ , y ₃ ) in the planned coordinates of the measuring section of the reference map.

The acceleration a of the DO motion is defined as

where ΔV = V ₂ -V ₁ is the increment of speed over the time interval Δt.

The BS location correction signal is calculated based on the analysis of the received information.

Control the movement of DO by correcting its location.

Thus, the proposed method for navigation of moving objects has a number of significant advantages over the known methods of navigation, because it allows you to determine the location, direction, speed and acceleration of the DO movement on the basis of three current maps, which significantly supplements the capabilities of the navigation method and improves the accuracy of determining the location corrections of the DO.

Note that the proposed method for navigation of moving objects has several advantages over the known methods of navigation, since it allows to increase noise immunity. These significant differences are ensured by determining the location corrections of DOs using only three digital images of the recognized reference object, as well as by using only passive methods of obtaining current maps of the reference object.

In addition, the method is based on the use of only digital cards and digital methods of processing information and images.

LITERATURE

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7 Kondratenkov G.S., Frolov A.Yu. Radio vision. Earth remote sensing radar systems. - M .: Radio engineering, 2005.

Claims (1)

A method for navigating moving objects, which consists in using a reference terrain map containing reference objects whose coordinates are known, selecting a reference object within the reference map, obtaining one current map of a reference object, converting the current map of a reference object into a digital image, recognizing a reference object in a digital image the current map, determining the location and spatial parameters of the reference object in a digital image of the current map, comparing the current and this reference map of the reference object by adjusting the parameters of the reference object on the digital image of the current map to match the parameters of the reference object on the digital image of the reference map, determining the coordinates of the reference object, determining the location of a moving object in the planned coordinates of the reference map, calculating the signal of correction of the motion path and controlling the movement of the moving object by correcting its location, characterized in that before calculating the correction signal through the time interval and Δt after receiving the first current map of the reference object, they obtain the second current map of the reference object, convert the second current map of the reference object into a digital image of the second current map, recognize the reference object in the digital image of the second current map, determine the location and spatial parameters of the reference object in the digital image of the second of the current card, the second current and reference cards of the reference object are compared by adjusting the parameters of the reference object in a digital image of the second the current map to match the parameters of the reference object in the digital image of the reference map, determine the coordinates of the reference object, determine the second location of the moving object in the planned coordinates of the reference map, determine the direction of movement and speed of the moving object, get the third current map of the reference object after a time interval Δt after receiving the second current map of the reference object, convert the third current map of the reference object into a digital image of the third current map, recognize the reference object on the digital image of the third current map, determine the location and spatial parameters of the reference object on the digital image of the third current map, compare the third current and reference maps of the reference object by adjusting the parameters of the reference object on the digital image of the third current map to match the parameters of the reference object on the digital image of the reference map, determine the coordinates of the reference object, determine the third location of the moving object in the planned coordinates nats reference card, specify the direction and speed of the moving object, determine the acceleration of the moving object, calculating a correction signal path of movement and controlling the movement of a moving object by correcting its location.

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