Pub Date : 2017-10-01DOI: 10.1109/APUAVD.2017.8308780
O. Sushchenko, Y. Bezkorovainyi, N. Novytska
The paper deals with features of nonorthogonal redundant configurations of inertial sensors. Tables of directional cosines are represented and analyzed. The nonorthogonal redundant configurations consisting of measuring inertial units are proposed. Analysis of measuring accuracy of these configurations is given. Experimental results are represented. The appearance of nonorthogonal redundant configuration of inertial measuring units based on the tetragonal pyramids is shown.
{"title":"Nonorthogonal redundant configurations of inertial sensors","authors":"O. Sushchenko, Y. Bezkorovainyi, N. Novytska","doi":"10.1109/APUAVD.2017.8308780","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308780","url":null,"abstract":"The paper deals with features of nonorthogonal redundant configurations of inertial sensors. Tables of directional cosines are represented and analyzed. The nonorthogonal redundant configurations consisting of measuring inertial units are proposed. Analysis of measuring accuracy of these configurations is given. Experimental results are represented. The appearance of nonorthogonal redundant configuration of inertial measuring units based on the tetragonal pyramids is shown.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"5 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":"117105005","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.2017.8308776
D. Karabetsky
This paper shows problem of maximum power point tracking for solar rechargeable airplane; defines problem statement why it is important, structure of the energy system with analysis of each subsystem.
{"title":"Conceptual design of maximum power point tracking for solar rechargable airplane","authors":"D. Karabetsky","doi":"10.1109/APUAVD.2017.8308776","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308776","url":null,"abstract":"This paper shows problem of maximum power point tracking for solar rechargeable airplane; defines problem statement why it is important, structure of the energy system with analysis of each subsystem.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"8 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":"124271624","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.2017.8308767
R. M. Farhadi, V. Kortunov, A. Mohammadi
In this paper, three robust control methods for the uncertain dynamic model of Skywalker X8 flying-wing unmanned air vehicle are designed: mu-synthesis, robust proportional integral derivative control and adaptive robust proportional integral derivative control using optimization. The implementation feasibility of designed robust control systems based on the capabilities of the autopilot hardware is investigated. A robust proportional integral derivative and robust adaptive proportional integral derivative control are designed based on the considerations of the robustness of the system's behavior as well as hardware considerations. With a robust control system based on mu-synthesis, it is possible to achieve better reference signal tracking and disturbance rejection. But the hardware processor speed of the existing autopilot makes it impossible to implement this controller. Two parallel microcontrollers or a dual-core microcontroller must be used to implement a control system based on the mu-synthesis. Designed robust adaptive proportional integral derivative controller for roll channel was implemented in the existing autopilot and tested in flight test.
{"title":"Implementation of the robust control in the mini autopilot for an unmanned air vehicle","authors":"R. M. Farhadi, V. Kortunov, A. Mohammadi","doi":"10.1109/APUAVD.2017.8308767","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308767","url":null,"abstract":"In this paper, three robust control methods for the uncertain dynamic model of Skywalker X8 flying-wing unmanned air vehicle are designed: mu-synthesis, robust proportional integral derivative control and adaptive robust proportional integral derivative control using optimization. The implementation feasibility of designed robust control systems based on the capabilities of the autopilot hardware is investigated. A robust proportional integral derivative and robust adaptive proportional integral derivative control are designed based on the considerations of the robustness of the system's behavior as well as hardware considerations. With a robust control system based on mu-synthesis, it is possible to achieve better reference signal tracking and disturbance rejection. But the hardware processor speed of the existing autopilot makes it impossible to implement this controller. Two parallel microcontrollers or a dual-core microcontroller must be used to implement a control system based on the mu-synthesis. Designed robust adaptive proportional integral derivative controller for roll channel was implemented in the existing autopilot and tested in flight test.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"29 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":"121117221","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.2017.8308770
O. Chuzha, N.V. Pazyura, V. Romanenko
The autonomous determination of UAV coordinates may be performed by means of survey-comparative methods of navigation while recognizing landmarks according to their geometric characteristics. Most precisely, the geometric characteristics of a spatial object can be obtained by using its mathematical model.
{"title":"Model of spatial landmarks for survey-comparative methods navigation of UAVs","authors":"O. Chuzha, N.V. Pazyura, V. Romanenko","doi":"10.1109/APUAVD.2017.8308770","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308770","url":null,"abstract":"The autonomous determination of UAV coordinates may be performed by means of survey-comparative methods of navigation while recognizing landmarks according to their geometric characteristics. Most precisely, the geometric characteristics of a spatial object can be obtained by using its mathematical model.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"38 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":"115849199","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.2017.8308820
V. Sineglazov, E. Daskal
Modern unmanned aerial vehicle navigation systems are highly dependent on Global Positioning System signals. Since Global Positioning System signals in dense urban housing areas, in tunnels or indoors may be unreliable, unmanned aerial vehicle will not be able to fulfill its tasks if needed to pass such zones. An unmanned aerial vehicle navigation system based on the increasingly popular radio standard IEEE 802.15.4 / ZigBee is proposed. A description of such networks and their advantages for unmanned aerial vehicle positioning are given.
{"title":"Unmanned aerial vehicle navifation system based on IEEE 802.15.4 standard radiounits","authors":"V. Sineglazov, E. Daskal","doi":"10.1109/APUAVD.2017.8308820","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308820","url":null,"abstract":"Modern unmanned aerial vehicle navigation systems are highly dependent on Global Positioning System signals. Since Global Positioning System signals in dense urban housing areas, in tunnels or indoors may be unreliable, unmanned aerial vehicle will not be able to fulfill its tasks if needed to pass such zones. An unmanned aerial vehicle navigation system based on the increasingly popular radio standard IEEE 802.15.4 / ZigBee is proposed. A description of such networks and their advantages for unmanned aerial vehicle positioning are given.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"5 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":"114796991","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.2017.8308812
V. Sineglazov, S. Dolgorukov
The paper considers dynamic test table system for navigation sensors testing and verification. The problem of test table confidence margin is considered taking into account different sources of errors. Estimation of frequency characteristics of sensors is shown by special test table criteria. The paper describes inertial navigation system experiment on dynamic test table in order to compensate navigation system parameters.
{"title":"Dynamic testing of UAV navigation system","authors":"V. Sineglazov, S. Dolgorukov","doi":"10.1109/APUAVD.2017.8308812","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308812","url":null,"abstract":"The paper considers dynamic test table system for navigation sensors testing and verification. The problem of test table confidence margin is considered taking into account different sources of errors. Estimation of frequency characteristics of sensors is shown by special test table criteria. The paper describes inertial navigation system experiment on dynamic test table in order to compensate navigation system parameters.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"216 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":"131495691","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.2017.8308814
O. Krivonosenko, S. Osadchy
The new methodology of optimal stabilization systems creation for moving plants based on a modified method of optimal synthesize in a frequency domain is proposed. The stochastic approach is considered in relation to a new technology of optimal stabilization for vehicles and their parts witch are moving in a presence of random disturbances. The proposed methodology should ensure the stabilization process of the plant movement on the competitive level.
{"title":"Synthesis of an optimal stabilization system structure for UAV of a helicopter type","authors":"O. Krivonosenko, S. Osadchy","doi":"10.1109/APUAVD.2017.8308814","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308814","url":null,"abstract":"The new methodology of optimal stabilization systems creation for moving plants based on a modified method of optimal synthesize in a frequency domain is proposed. The stochastic approach is considered in relation to a new technology of optimal stabilization for vehicles and their parts witch are moving in a presence of random disturbances. The proposed methodology should ensure the stabilization process of the plant movement on the competitive level.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"15 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":"131862273","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.2017.8308823
O. Tachinina, O. Lysenko, I. Alekseeva
The article proposes the method of constructing the branching path of information robot motion that is the compound dynamic system in the form of a group of unmanned aerial vehicles. The conditions for modeling the optimal branching path of the compound dynamical system with an arbitrary branching scheme are formulated in terms of optimal control theory.
{"title":"Path constructing method of unmanned aerial vehicle","authors":"O. Tachinina, O. Lysenko, I. Alekseeva","doi":"10.1109/APUAVD.2017.8308823","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308823","url":null,"abstract":"The article proposes the method of constructing the branching path of information robot motion that is the compound dynamic system in the form of a group of unmanned aerial vehicles. The conditions for modeling the optimal branching path of the compound dynamical system with an arbitrary branching scheme are formulated in terms of optimal control theory.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"15 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":"133432670","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.2017.8308815
V. Sineglazov, O. Chumachenko, V. Gorbatiuk
A new clustering approach that is capable of finding clusters that are separated by some complex hypersurface is proposed. The approach can be useful for performing analysis of big amounts of unlabeled images that can be nowadays easily gathered, in particular by using unmanned aerial vehicle with mounted cameras. The approach is based on “softening” the initial clustering criterion and then using nonlinear optimization to find the optimal hypersurface that separates clusters.
{"title":"A new approach in cluster analysis","authors":"V. Sineglazov, O. Chumachenko, V. Gorbatiuk","doi":"10.1109/APUAVD.2017.8308815","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308815","url":null,"abstract":"A new clustering approach that is capable of finding clusters that are separated by some complex hypersurface is proposed. The approach can be useful for performing analysis of big amounts of unlabeled images that can be nowadays easily gathered, in particular by using unmanned aerial vehicle with mounted cameras. The approach is based on “softening” the initial clustering criterion and then using nonlinear optimization to find the optimal hypersurface that separates clusters.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"263 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":"122700496","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.2017.8308817
V. Tuyrin, O. Barabash, P. Openko, I. Sachuk, A. Dudush
In report the state and prospects of development of technical support system of antiaircraft missile armament are considered. Its further development is defined based on the maintenance and repair strategy according to technical state of antiaircraft missile armament combined with the life cycle support system. The structure of technical support system of AME of the Air Force of Ukraine is offered. The main tasks of the system components are considered. The requirements to the devices for monitor and diagnostic of technical state of a military product are developed. The indexes for estimation of a military products state in support system of decision-making are defined. The features of technical realization and the tasks, which need to solve, are formed.
{"title":"Informational support system for technical state control of military equipment","authors":"V. Tuyrin, O. Barabash, P. Openko, I. Sachuk, A. Dudush","doi":"10.1109/APUAVD.2017.8308817","DOIUrl":"https://doi.org/10.1109/APUAVD.2017.8308817","url":null,"abstract":"In report the state and prospects of development of technical support system of antiaircraft missile armament are considered. Its further development is defined based on the maintenance and repair strategy according to technical state of antiaircraft missile armament combined with the life cycle support system. The structure of technical support system of AME of the Air Force of Ukraine is offered. The main tasks of the system components are considered. The requirements to the devices for monitor and diagnostic of technical state of a military product are developed. The indexes for estimation of a military products state in support system of decision-making are defined. The features of technical realization and the tasks, which need to solve, are formed.","PeriodicalId":163267,"journal":{"name":"2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)","volume":"26 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":"124799208","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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