RU2523446C2 - Method for automated determination of coordinates of unmanned aerial vehicles - Google Patents

Abstract

FIELD: physics, navigation.

SUBSTANCE: invention can be used to determine coordinates of unmanned aerial vehicles in automatic mode. The method for automated determination of coordinates of unmanned aerial vehicles involves using laser radiation reflected from an unmanned aerial vehicle to determine range, vertical and horizontal angles, which are then used to accurately determine the position of the unmanned aerial vehicle in space, wherein an automated information processing system enables to determine the direction of movement of the unmanned aerial vehicle.

EFFECT: transmitting surveillance information and striking an enemy unmanned aerial vehicle, faster detection of an unmanned aerial vehicle and determination of coordinates, high accuracy of determining coordinates of an unmanned aerial vehicle.

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Description

The invention relates to a method for determining the coordinates of unmanned aerial vehicles and can be used to determine the coordinates of unmanned aerial vehicles in automatic mode.

An analysis of the direction finding process and determining the coordinates of unmanned aerial vehicles (UAVs) under special conditions shows that the use of a satellite navigation system is not always possible, therefore, it is necessary to use ground-based means for determining spatial coordinates [1,2].

The use of UAVs allows you to search for and detect a target, adjust fire on it and control the results of target destruction in a single technological cycle. In this case, the main disadvantage of the system is the determination of UAV coordinates in space.

The invention provides a method for automatically determining the coordinates of unmanned aerial vehicles. The prototype of this invention is the invention SU 1172374 A1 (MKI G01S 3/78) from 03/26/84 and patent No. 2349864 from 03/20/09 [3,4].

Currently, various types of UAVs are used, the use of which causes the problem of determining spatial coordinates (the use of a satellite navigation system is not always possible, this is due to signal suppression by electronic warfare, etc.) [5]. And the determination of coordinates using angle measuring devices is associated with the difficult work of the operator to accurately aim at the UAV and determine its location in space with the subsequent calculation of its coordinates manually.

The operator takes a lot of time for this process and, before making a decision, the UAV disappears from line of sight, which makes it impossible to obtain information about the coordinates of the UAV.

Thus, existing analogues are not able to determine the exact spatial coordinates of the UAV without spending a large amount of time and resources, which confirms the need to use the method of automated determination of the coordinates of unmanned aerial vehicles.

The aim of the invention is the automated determination of the coordinates of unmanned aerial vehicles by the vertical and horizontal angles of a computer video monitor and by reflected laser radiation, based on the determination of range (Fig. 1).

The invention allows: 1) to automatically determine the coordinates of the UAV for control and transmission of reconnaissance information, as well as the defeat of the enemy UAV; 2) to reduce the time for detecting UAVs and determining coordinates; 3) reduce the average error in determining the coordinates, which will be reduced to the instrumental error of the measuring instruments; 4) to exclude measures for the visual determination of the polar coordinates of the UAV; 5) to ensure the independence of the time for detecting UAVs, determining coordinates and processing information, which allows automated support for direct and reverse communication with UAVs.

This goal is achieved by the use of all-round cameras with a video monitor oriented in space, a computer and a laser rangefinder to illuminate the UAV.

The development of a modern elemental base, including small-sized receivers (cameras) and small-sized powerful radiation sources, allows them to be placed as promising reconnaissance systems for detecting and recognizing UAVs and determining their spatial coordinates [7, 8].

Automatic determination of the coordinates of unmanned aerial vehicles in space in the operator’s area of responsibility is carried out using cameras 1 (Fig. 1), placed symmetrically and directed in different directions, so as to observe 360 °. The cameras operate sector-by-sector in the optical range of electromagnetic waves, day and night. The appearance of a UAV is automatically detected as a jammer 2 that occurs on the frame of the video sequence relative to the previous one. The data obtained are processed on a computer, where the angular values of the UAV’s location are generated in height and horizontal relative to the center of the angle measuring device 3. According to the computer and using rotary mechanisms, the angle measuring device processes the emitter in the direction of the UAV located on the movable head 6. The emitter emits a laser pulse 4 , the reflected signal 5 using the receiver (located on the movable head 6 together with the emitter) record the time of passage of radiation to the UAV and vice versa (the emitter under the UAV lights up, and the receiver receives a signal (range measurements from the UAV)).

The measured distance from the UAV is fed to the information processing and display device (computer) about the coordinates of the UAV 7, where the coordinates of unmanned aerial vehicles are automatically determined: X _UAV ; Y _UAV ; Z _UAV.

The measurement of angles on the ground is the measurement of the angles between the projections of these directions on the horizontal plane when measuring horizontal angles or on the vertical plane when measuring vertical angles and tilt angles (figure 2).

It is these angles that are necessary to calculate the relative position of points A and B on the earth's surface in a certain coordinate system.

So, if ∠АOW is the angle on the terrain between the oblique directions of OA and OB, then its horizontal projection ∠A'OB 'will result from the projection of points A and B on the horizontal plane (points A' and B ').

A measure of this angle will be the linear angle β, called the horizontal angle.

To obtain excesses between points on the earth's surface, AOW is projected onto a vertical plane (points A ”and B). The resulting angle ξ is called the vertical angle.

The angle in the vertical plane formed by the horizontal plane passing through point O and the direction to any object is called the angle of inclination. Figure 2 shows two tilt angles:

- for the direction OA - ^∠γ A;

- for direction О В - ∠γ _B.

On the device for processing and displaying information (computer) about the coordinates of the UAV and objects, the calculated spatial coordinates X, Y, Z are displayed (figure 4).

Description with coordinate formulas

Given point 1 with coordinates (X ₁ , Y ₁ , Z ₁ ), the distance between points 1 and 2 is D, the horizontal angle α ₁ and the vertical angle α ₂ from point 1 to point 2 (Fig. 3).

It is necessary to determine the coordinates of point 2 (X ₂ , Y ₂ , Z ₂ ).

The projections of D on the coordinate axis will correspond to ΔX, ΔY and ΔZ.

Then:

X ₂ = X ₁ + ΔX;

Y ₂ = Y ₁ + ΔY;

Z ₂ = Z ₁ + ΔZ.

The quantities ΔX, ΔY and ΔZ are called increments of coordinates. Their values are defined as follows

ΔX = Dcos (α ₁ );

ΔY = Dsin (α ₁ );

ΔZ = Dsin (α ₂ ).

References

1. Dmitrienko A.G., Ivy A.A., Blinov A.V., Parkhomenko A.V. Aerial reconnaissance in the interests of artillery; under the general. ed. A.V.Parkhomenko. - Penza: PAII, 2010 .-- 255 pp., Ill.

2. Rostopchin VV The elementary basis for evaluating the effectiveness of unmanned aerial systems for aerial reconnaissance. http://dpla.ru/otklikrostopchin.htm.

3. Auto certificate SU 1172374 A1 dated 03.26.84. Optical guidance system of a moving object. MKI G01S 3/78.

4. Parkhomenko A.V., Shishkov S.V. etc. Helmet reconnaissance system of passive long-range detection of objects. - FIPS. Patent No. 2349864 dated 03.20.09.

5. Parkhomenko A.V., Shishkov S.V. etc. A nozzle for optoelectronic devices for sighting objects at large elevation angles. - FIPS. Utility Model Patent No. 83603, 06/10/09.

6. Parkhomenko A.V., Shishkov S.V. et al. A device for reconnaissance of objects using the combined stereo effect method. - FIPS. Utility Model Patent No. 84539 for an Application for Invention No. 2008152592 of December 29, 2008. Publ. 07/10/2009. Bull. No. 19.

7. Parkhomenko A.V., Shishkov S.V. et al. Device for reconnaissance of objects using the anaglyph method. - FIPS. Utility Model Patent No. 86295 dated September 27, 09 according to Application No. 2008152594 dated December 29. 2008. Publ. 09/27/09. Bull. Number 24.

Claims (1)

A method for automatically determining the coordinates of unmanned aerial vehicles using all-round cameras, a space-oriented video monitor, a computer and a laser rangefinder to illuminate UAVs, characterized in that the all-round cameras are placed symmetrically and directed in different directions, so as to observe 360 ° the optical range of electromagnetic waves day and night, and the appearance of a UAV is recorded automatically as a hindrance arising on the frame of the video sequence relative to the previous one, and the floor the scientific data are processed on a computer, where the angular values of the UAV’s location are generated in height and horizontal relative to the center of the angle-measuring device, which with the help of rotary mechanisms directs the laser rangefinder to the UAV to measure the distance to it, then the measured distance from the UAV is fed to the information processing and display device (Computer), where there is an automated determination of the spatial coordinates of X _UAVs , Y _UAVs , Z _{UAVs of} unmanned aerial vehicles.

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