Methodology for Determining Deviations of Pilotless Aircraft from a Given Trajectory by Parallaxes of Underlying Surface Images

Abstract

Purpose of research. Development of a methodology for determining deviations of pilotless aircrafts from a given trajectory in conditions of signals loss from navigation satellites.Methods. The technique is based on functional relationship between deviation parameters of pilotless aircrafts from a given trajectory and changes in longitudinal and transverse parallaxes of overlapping images of the underlying surface due to these deviations. Mathematical description of computational procedures for deviation parameters determination used methods of functions approximation and mathematical processing of measurement results with accuracy estimation of obtained results.Results. A methodology that includes monitoring, assessing the level and determining the magnitude and direction of deviations of pilotless aircrafts from a given trajectory was developed. A system of nonlinear equations describing functional relationship between deviation parameters and changes in parallax of overlapping images of the underlying surface is obtained. Linearization, normalization and solutions of this system of equations by the least squares method were performed. Analytical relations were obtained for a posterior accuracy assessment of the obtained results.Conclusion. The technique provides parameters detection and determination of uncoordinated deviations of pilotless aircrafts from a given trajectory with an accuracy commensurate with satellite navigation methods. The proposed approach makes it possible to reduce the number of processed corresponding points in overlapping images and the dimension of the problem being solved in comparison with known methods. This significantly reduces the level of computational and resource costs, which is of great importance for the use of developed technique on the board of miniature pilotless aircrafts.