Pub Date : 2017-10-17DOI: 10.1109/APUAVD.2017.8308791
P. Aksonenko, V. Avrutov, Yu. F. Lazarev, P. Hénaff, L. Ciarletta
In this paper experimental researches of one-step overclocking algorithms were presented. Typically, software for inertial measurement unit implemented without complex computational algorithms. That is the reason for the appearance of large output algorithmic errors. Besides, there are errors and also others influences on the work of inexpensive inertial measurement unit, due to noise and instrumental features from each sensor. As a result, directly the same errors have affection on the accuracy of orientation and navigation strapdown inertial navigation system. The results by the static position in space were obtained. The quality and accuracy of the uncomplicated one-step overclocking algorithms has been investigated.
{"title":"Overclocking algorithms for SINS","authors":"P. Aksonenko, V. Avrutov, Yu. F. Lazarev, P. Hénaff, L. Ciarletta","doi":"10.1109/APUAVD.2017.8308791","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308791","url":null,"abstract":"In this paper experimental researches of one-step overclocking algorithms were presented. Typically, software for inertial measurement unit implemented without complex computational algorithms. That is the reason for the appearance of large output algorithmic errors. Besides, there are errors and also others influences on the work of inexpensive inertial measurement unit, due to noise and instrumental features from each sensor. As a result, directly the same errors have affection on the accuracy of orientation and navigation strapdown inertial navigation system. The results by the static position in space were obtained. The quality and accuracy of the uncomplicated one-step overclocking algorithms has been investigated.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115639634","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/APUAVD.2017.8308787
O. Barabash, N. Dakhno, H. Shevchenko, T. V. Majsak
The technique of applying a two-step variational-gradient method to the decision-support systems for controlling an unmanned aerial vehicle described by dynamic models is considered. The conclusions on the sufficient efficiency of application of two-step variation-gradient method in the software of decision support systems are made on the basis of the conducted studies.
{"title":"Dynamic models of decision support systems for controlling UAV by two-step variational-gradient method","authors":"O. Barabash, N. Dakhno, H. Shevchenko, T. V. Majsak","doi":"10.1109/APUAVD.2017.8308787","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308787","url":null,"abstract":"The technique of applying a two-step variational-gradient method to the decision-support systems for controlling an unmanned aerial vehicle described by dynamic models is considered. The conclusions on the sufficient efficiency of application of two-step variation-gradient method in the software of decision support systems are made on the basis of the conducted studies.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114494991","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/APUAVD.2017.8308802
E. Bekirov, M. Asanov
The options for using UAVs, in particular for monitoring environmental parameters, are considered. The proposed digital device for measuring air temperature is described. This device is controlled by the microprocessor PIC 16F876A. As temperature sensors, digital sensors DS18B20 are used. The device includes eight sensors. Information about the measured temperature can be stored in the device's memory or transferred to the operator's console (with the presence of radio module). The temperature meter can be programmed to measure at a certain point in time or at certain points in the terrain (when connected to the navigation system).
{"title":"Digital temperature measuring device for use on unmanned aerial vehicles","authors":"E. Bekirov, M. Asanov","doi":"10.1109/APUAVD.2017.8308802","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308802","url":null,"abstract":"The options for using UAVs, in particular for monitoring environmental parameters, are considered. The proposed digital device for measuring air temperature is described. This device is controlled by the microprocessor PIC 16F876A. As temperature sensors, digital sensors DS18B20 are used. The device includes eight sensors. Information about the measured temperature can be stored in the device's memory or transferred to the operator's console (with the presence of radio module). The temperature meter can be programmed to measure at a certain point in time or at certain points in the terrain (when connected to the navigation system).","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"192 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114223198","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/APUAVD.2017.8308807
V. Timchenko, D. O. Lebedev, E. A. Kuklina, I. Timchenko
Approach to robust-optimal control system's synthesis for quadrocopter based on the optimization of his trajectories and control functions formed in the feedback structure is submitted. Synthesis of control functions with special variable structures of feedback circuits is formed. In case of incomplete prior information about quadrocopter's model and environment, robust circuit is synthesized with additional usage of control signals formed by the reference control system with variable structure of feedback. Given approach allows to decrease errors values and energy costs.
{"title":"Robust-optimal control system of quadrocopter for maritime traffic's monitoring","authors":"V. Timchenko, D. O. Lebedev, E. A. Kuklina, I. Timchenko","doi":"10.1109/APUAVD.2017.8308807","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308807","url":null,"abstract":"Approach to robust-optimal control system's synthesis for quadrocopter based on the optimization of his trajectories and control functions formed in the feedback structure is submitted. Synthesis of control functions with special variable structures of feedback circuits is formed. In case of incomplete prior information about quadrocopter's model and environment, robust circuit is synthesized with additional usage of control signals formed by the reference control system with variable structure of feedback. Given approach allows to decrease errors values and energy costs.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"186 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116194554","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/APUAVD.2017.8308826
M. Mukhina, I. Barkulova
Analysis of classification system by video observation has been done. The system with aided classification based on probabilistic models is proposed. Feature vector contains the most informative components and allows the minimization of decision risks. Results have proven the reliability of classification during a number of video frames in the condition of non-full data descriptive space.
{"title":"System of aided classification of ground objects by video observation from unmanned aerial vehicle","authors":"M. Mukhina, I. Barkulova","doi":"10.1109/APUAVD.2017.8308826","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308826","url":null,"abstract":"Analysis of classification system by video observation has been done. The system with aided classification based on probabilistic models is proposed. Feature vector contains the most informative components and allows the minimization of decision risks. Results have proven the reliability of classification during a number of video frames in the condition of non-full data descriptive space.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126241695","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/APUAVD.2017.8308795
V. Kazak, A. Babenko, Ivan Zharin, D. Shevchuk
In the paper a radically new way of monitoring the state of the external contour of unmanned aerial vehicle or aircraft in flight was proposed. The theoretical basis of ion marker diagnostic method was presented. The method is based on generation of ion markers and conducting an electrical heterogeneity in the flow zone with its subsequent registration. Interpretation of time amplitude and frequency data gives the possibility to identify moment, place, extent and type of damage to the condition of the unmanned aerial vehicle or aircraft external contour in flight.
{"title":"Theoretical basis of an ion marker method for monitoring of the UAV external contour in flight","authors":"V. Kazak, A. Babenko, Ivan Zharin, D. Shevchuk","doi":"10.1109/APUAVD.2017.8308795","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308795","url":null,"abstract":"In the paper a radically new way of monitoring the state of the external contour of unmanned aerial vehicle or aircraft in flight was proposed. The theoretical basis of ion marker diagnostic method was presented. The method is based on generation of ion markers and conducting an electrical heterogeneity in the flow zone with its subsequent registration. Interpretation of time amplitude and frequency data gives the possibility to identify moment, place, extent and type of damage to the condition of the unmanned aerial vehicle or aircraft external contour in flight.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"47 18","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120816335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/APUAVD.2017.8308790
A. Prodeus, I. Kotvytskyi
In this paper, the results of experimental studies of the reasons for the low reliability of the log-spectral distortion (LSD) measure for estimating the quality of speech signals limited in the frequency band are presented. It is shown that the LSD measure has an increased sensitivity not only to the speech formants, but also to the shape of frequency response of low-frequency filters limiting the frequency band. It is also shown that normalization by variance of band-limited signals leads to LSD measure anomalous behavior. Simple modification of the LSD estimate is proposed, which makes it possible to increase its statistical stability.
{"title":"On reliability of log-spectral distortion measure in speech quality estimation","authors":"A. Prodeus, I. Kotvytskyi","doi":"10.1109/APUAVD.2017.8308790","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308790","url":null,"abstract":"In this paper, the results of experimental studies of the reasons for the low reliability of the log-spectral distortion (LSD) measure for estimating the quality of speech signals limited in the frequency band are presented. It is shown that the LSD measure has an increased sensitivity not only to the speech formants, but also to the shape of frequency response of low-frequency filters limiting the frequency band. It is also shown that normalization by variance of band-limited signals leads to LSD measure anomalous behavior. Simple modification of the LSD estimate is proposed, which makes it possible to increase its statistical stability.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"822 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125585125","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/APUAVD.2017.8308800
Ye. I. Gabrousenko, V. Pilinsky, V. Lazebnyi
Direct current circuits (power supply and control) of electronic equipment of unmanned aerial vehicle can be sources of unintentional electromagnetic emissions due to their connection with high-frequency circuits and functional nodes. This is one of the reasons for the unwanted dissemination of information and data. To eliminate this phenomenon it is proposed to shield the direct current circuits of unmanned aerial vehicle. The characteristics of the main types of known screens, materials for their fabrication, as well as the results of mathematical simulation of screening efficiency in the form of the dependence of the current penetration depth on the electromagnetic field frequency are considered. As the most effective screen is offered a wire braid made of steel wire with rectangular cross-section.
{"title":"Protection of direct current circuits of unmanned aerial vehicle by screen","authors":"Ye. I. Gabrousenko, V. Pilinsky, V. Lazebnyi","doi":"10.1109/APUAVD.2017.8308800","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308800","url":null,"abstract":"Direct current circuits (power supply and control) of electronic equipment of unmanned aerial vehicle can be sources of unintentional electromagnetic emissions due to their connection with high-frequency circuits and functional nodes. This is one of the reasons for the unwanted dissemination of information and data. To eliminate this phenomenon it is proposed to shield the direct current circuits of unmanned aerial vehicle. The characteristics of the main types of known screens, materials for their fabrication, as well as the results of mathematical simulation of screening efficiency in the form of the dependence of the current penetration depth on the electromagnetic field frequency are considered. As the most effective screen is offered a wire braid made of steel wire with rectangular cross-section.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115249098","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/APUAVD.2017.8308808
Roman Voliansky, A. Sadovoi
The paper deals with the synthesis of controller, which transforms dynamics of linear control object to Brunovsky form, by solution of inverse dynamics problem. The articles gives theoretical basis and examples of using proposed approach in the paper. Results of computer simulation confirm benefits of the proposed approach.
{"title":"The transformation of linear dynamical object's equation to Brunovsky canonical form","authors":"Roman Voliansky, A. Sadovoi","doi":"10.1109/APUAVD.2017.8308808","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308808","url":null,"abstract":"The paper deals with the synthesis of controller, which transforms dynamics of linear control object to Brunovsky form, by solution of inverse dynamics problem. The articles gives theoretical basis and examples of using proposed approach in the paper. Results of computer simulation confirm benefits of the proposed approach.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"217 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113949221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-10-01DOI: 10.1109/APUAVD.2017.8308797
M. Mukhina, G. Babeniuk
Analysis of existent anomalous geomagnetic field map has been done. Informativity of map has been estimated as trajectory data in terms of variance, signal-to-noise ratio and correlation radius. The recommendations and general algorithm for realization of geomagnetic aided navigation have been developed and proved.
{"title":"Analysis of informativity of anomalous geomagnetic field databases for aided UAV navigation","authors":"M. Mukhina, G. Babeniuk","doi":"10.1109/APUAVD.2017.8308797","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308797","url":null,"abstract":"Analysis of existent anomalous geomagnetic field map has been done. Informativity of map has been estimated as trajectory data in terms of variance, signal-to-noise ratio and correlation radius. The recommendations and general algorithm for realization of geomagnetic aided navigation have been developed and proved.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114283329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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