Affiliation:
1. Southwest State University
2. Yugo-Zapadnyy gosudarstvennyy universitet
Abstract
There is a problem of quickly obtaining reliable and sufficient information about the environment, including in hard-to-reach areas where there is no communication or long-term stationary monitoring is required in order to ensure the safety or security of important objects. The paper discusses the issues of mathematical modeling of automated cable parking of an unmanned aerial vehicle (platform) in a vertical plane.
The aim of the research is to create tools for the design of tethered flying platforms equipped with an automated cable restraint system, taking into account external random atmospheric disturbances during vertical flight. To achieve this aim, it is necessary to carry out mathematical modeling of the flight of tethered unmanned aerial platforms, taking into account external active and reactive forces, as well as disturbing forces – random air flows, which can be significant in strength and variable in direction, which undoubtedly affects the stable position tethered platform. The use of the extended Kalman filter algorithm as an observer of the tethered flying platform state in mathematical modeling of the platform's flight makes it possible to take into account random disturbances of the atmosphere as a partially deterministic environment in order to reduce the position error of the aircraft during its control.
To solve the problem, methods of classical mechanics, motion stability theory, optimal control, estimation theory, and parametric optimization were used.
The results of mathematical modeling of a tethered flying platform – a tethered copter – flight are presented, taking into account random atmospheric disturbances. The results of computational experiments made it possible to establish that random atmospheric disturbances can have a significant impact on the position control of an aircraft.
Publisher
BSTU named after V.G. Shukhov
Reference21 articles.
1. Вишневский В.М., Козырев Д.В., Рыков В.В., Нгуен З.Ф. Моделирование надёжности беспилотного высотного модуля привязной телекоммуникационной платформы // Информационные технологии и вычислительные системы. 2020. № 4. С. 26–38. DOI: 10.14357/20718632200403, Vishnevsky V.M., Kozyrev D.V., Rykov V.V., Nguyen Z.F. Modeling the reliability of an unmanned high-altitude module of a tethered telecommunications platform [Modelirovaniye nadozhnosti bespilotnogo vysotnogo modulya privyaznoy telekommunikatsionnoy platformy]. Information technologies and computing systems. 2020. No. 4. Pp. 26–38. DOI: 10.14357/20718632200403 (rus)
2. Паршин А.В., Цирель В.С., Ржевская А.К. Методические рекомендации по выполнению маловысотной аэромагнитной съемки с применением БПЛА // Проблемы геокосмоса. 2018. С. 190–195., Parshin A.V., Tsirel V.S., Rzhevskaya A.K., Methodological recommendations for performing low-altitude aeromagnetic surveys using UAVs [Metodicheskiye rekomendatsii po vypolneniyu malovysotnoy aeromagnitnoy s"yemki s primeneniyem BPLA]. Problems of geocosmos, 2018. Pp. 190–195. (rus)
3. Belmekki B.E.Y., Alouini M.S. Unleashing the potential of networked tethered flying platforms: Prospects, challenges, and applications // IEEE Open Journal of Vehicular Technology. 2022. Vol. 3. Pp. 278–320. DOI: 10.1109/OJVT.2022.3177946, Belmekki B.E.Y., Alouini M.S. Unleashing the potential of networked tethered flying platforms: Prospects, challenges, and applications. IEEE Open Journal of Vehicular Technology. 2022. Vol. 3. Pp. 278–320. DOI: 10.1109/OJVT.2022.3177946
4. Belmekki B.E.Y., Alouini M.S. On the Usage of Networked Tethered Flying Platforms for Massive Events-Case Study: Hajj Pilgrimage // arXiv preprint arXiv:2111.00900. 2021. DOI: 10.48550/arXiv.2111.00900, Belmekki B.E.Y., Alouini M.S. On the Usage of Networked Tethered Flying Platforms for Massive Events-Case Study: Hajj Pilgrimage. arXiv preprint arXiv:2111.00900. 2021. DOI: 10.48550/arXiv.2111.00900
5. Lou Z., Belmekki B.E.Y., Alouini M.S. HAPS in the non-terrestrial network nexus: Prospective architectures and performance insights // IEEE Wireless Communications. 2023. Vol. 6(30). Pp. 52–58. DOI: 10.1109/MWC.004.2300198, Lou Z., Belmekki B.E.Y., Alouini M.S. HAPS in the non-terrestrial network nexus: Prospective architectures and performance insights. IEEE Wireless Communications. 2023. Vol. 6(30). Pp. 52–58. DOI: 10.1109/MWC.004.2300198