Pub Date : 2023-01-01DOI: 10.33764/2411-1759-2023-28-1-125-132
A. A. Chernov, S. A. Stepanova, G. V. Simonovа
At present, contamination of natural water sources with antibiotics has become of great concern. Existing treatment facilities do not fully solve the problem of fresh water conservation, methods of purification and process control of purification from antibiotics, are either complex or do not work at all. The most promising direction of water purification from pollutants is biological methods, since aquatic plants, as natural cleaners, contribute to the decomposition of pollutants and their transformation into harmless or less harmful compounds. Eichornia (water hyacinth) recognized, as the leader of this type of cleaner in the world. This article presents the measurement results of antibiotic concentration changes in water obtained by optical methods in order to assess the effectiveness of the purification process. The selection of the measuring signal due to the pollutant carried out in a differential way. The choice of the spectral range corresponded to the maximum absorption capacity of the dissolved substance. The impurity concentration was determined according to the calibration curve obtained for the given substance. The results of the samples analysis showed a significant decrease, almost three times, in the concentration of the pollutant, depending on the cleaning time. The article also discusses the thermal approach to the problem of waste biomass disposal. The conducted experiments showed that the energy value of the biomass is not high and is less than 8 MJ/kg with a large amount of ash residue. The result obtained can be useful for obtaining a source of hydrogen and synthesis gas or choosing a process for utilizing spent biomass.
{"title":"An optical method for monitoring the concentration of antibiotics in water in order to assess the effectiveness of its purification by a natural biocleaner","authors":"A. A. Chernov, S. A. Stepanova, G. V. Simonovа","doi":"10.33764/2411-1759-2023-28-1-125-132","DOIUrl":"https://doi.org/10.33764/2411-1759-2023-28-1-125-132","url":null,"abstract":"At present, contamination of natural water sources with antibiotics has become of great concern. Existing treatment facilities do not fully solve the problem of fresh water conservation, methods of purification and process control of purification from antibiotics, are either complex or do not work at all. The most promising direction of water purification from pollutants is biological methods, since aquatic plants, as natural cleaners, contribute to the decomposition of pollutants and their transformation into harmless or less harmful compounds. Eichornia (water hyacinth) recognized, as the leader of this type of cleaner in the world. This article presents the measurement results of antibiotic concentration changes in water obtained by optical methods in order to assess the effectiveness of the purification process. The selection of the measuring signal due to the pollutant carried out in a differential way. The choice of the spectral range corresponded to the maximum absorption capacity of the dissolved substance. The impurity concentration was determined according to the calibration curve obtained for the given substance. The results of the samples analysis showed a significant decrease, almost three times, in the concentration of the pollutant, depending on the cleaning time. The article also discusses the thermal approach to the problem of waste biomass disposal. The conducted experiments showed that the energy value of the biomass is not high and is less than 8 MJ/kg with a large amount of ash residue. The result obtained can be useful for obtaining a source of hydrogen and synthesis gas or choosing a process for utilizing spent biomass.","PeriodicalId":486194,"journal":{"name":"Vestnik SGUGiT","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135157946","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 : 2023-01-01DOI: 10.33764/2411-1759-2023-28-1-14-21
N. V. Kanashin
Geodetic support for the construction and operation of high-speed railway lines requires high-precision geodetic work both at the construction stage and during the operation of the facility. The ge-odetic setting-out network, being the basis for the construction of the highway, requires special care and high measurement accuracy for its creation. An analysis of the studies performed in this area shows their insufficiency or incorrectness, and a comparison of current regulatory documents shows their inconsistency. In this article it is calculated on the basis of the results of existing scientific works what should be the required accuracy of building a planned setting-out network for the construction of a railway with speeds up to 400 km/h. The correctness of the result obtained has been proved based on the analysis of existing regulatory documents of various countries providing high-speed rail communication. Based on the findings, practical recommendations on methods for constructing a planned setting-out network for the construction of a high-speed railway and fixing its points are given, which can significantly reduce the cost and labor intensity of work on its creation. The imperfection of the Russian regulatory framework in the field of construction of such facilities as well as the direction of further necessary research in the field of geodetic support for their construction are shown.
{"title":"About accuracy of the setting-out network for the construction of a high-speed railway","authors":"N. V. Kanashin","doi":"10.33764/2411-1759-2023-28-1-14-21","DOIUrl":"https://doi.org/10.33764/2411-1759-2023-28-1-14-21","url":null,"abstract":"Geodetic support for the construction and operation of high-speed railway lines requires high-precision geodetic work both at the construction stage and during the operation of the facility. The ge-odetic setting-out network, being the basis for the construction of the highway, requires special care and high measurement accuracy for its creation. An analysis of the studies performed in this area shows their insufficiency or incorrectness, and a comparison of current regulatory documents shows their inconsistency. In this article it is calculated on the basis of the results of existing scientific works what should be the required accuracy of building a planned setting-out network for the construction of a railway with speeds up to 400 km/h. The correctness of the result obtained has been proved based on the analysis of existing regulatory documents of various countries providing high-speed rail communication. Based on the findings, practical recommendations on methods for constructing a planned setting-out network for the construction of a high-speed railway and fixing its points are given, which can significantly reduce the cost and labor intensity of work on its creation. The imperfection of the Russian regulatory framework in the field of construction of such facilities as well as the direction of further necessary research in the field of geodetic support for their construction are shown.","PeriodicalId":486194,"journal":{"name":"Vestnik SGUGiT","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135158159","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 : 2023-01-01DOI: 10.33764/2411-1759-2023-28-4-118-128
V. M. Okmyanskaya
The study is aimed at assessing the negative impact on the natural park of regional significance "Samarovskiy Chugas", located in the Khanty-Mansiysk Autonomous Okrug-Yugra, based on the methodol-ogy proposed by the author for monitoring the lands of specially protected natural areas of the Tyu-men region. The article attempts to analyze the economic use of the natural park and determine the main factors of influence on the protected area, taking into account regional characteristics. On the example of the Samarovsky Chugas natural park, an algorithm for assessing the negative impact on nature protection areas was tested, and the values of indicators for monitoring the lands of urban specially protected natural areas were calculated. The data obtained and the results of calculations can be used by state authorities at the level of the constituent entity of the Russian Federation, local governments, environmental organizations for subsequent monitoring studies, planning measures for environmental protection.
{"title":"Approbation of the land monitoring methodology on the example of the Samarovsky Chugas nature park, Khanty-Mansi autonomous okrug-Yugra","authors":"V. M. Okmyanskaya","doi":"10.33764/2411-1759-2023-28-4-118-128","DOIUrl":"https://doi.org/10.33764/2411-1759-2023-28-4-118-128","url":null,"abstract":"The study is aimed at assessing the negative impact on the natural park of regional significance \"Samarovskiy Chugas\", located in the Khanty-Mansiysk Autonomous Okrug-Yugra, based on the methodol-ogy proposed by the author for monitoring the lands of specially protected natural areas of the Tyu-men region. The article attempts to analyze the economic use of the natural park and determine the main factors of influence on the protected area, taking into account regional characteristics. On the example of the Samarovsky Chugas natural park, an algorithm for assessing the negative impact on nature protection areas was tested, and the values of indicators for monitoring the lands of urban specially protected natural areas were calculated. The data obtained and the results of calculations can be used by state authorities at the level of the constituent entity of the Russian Federation, local governments, environmental organizations for subsequent monitoring studies, planning measures for environmental protection.","PeriodicalId":486194,"journal":{"name":"Vestnik SGUGiT","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135159980","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 : 2023-01-01DOI: 10.33764/2411-1759-2023-28-1-6-13
V. V. Kalinnikov, A. V. Ustinov, N. S. Kosarev
Height of the snow cover is an important parameter used to predict crop yields and floods. The traditional method of measuring the height of the snow cover according to the readings of three snow gauges has the disadvantage that in open areas the snow cover is blown out and redistributed under the influence of the wind. The new method of GNSS reflectometry makes it possible to circumvent this disadvantage by averaging the height of the snow cover over a certain local area around the antenna of the ground-based GNSS radio signal receiver. The aim of the study is to assess the accuracy of determining the height of the snow cover using GNSS reflectometry using the example of the IRKM station (Irkutsk city) for the winter period 2021/2022. It has been established that the standard deviation of heights of the snow cover determined by reflectometry of GPS and GLONASS radio signals from heights of the snow cover recorded by the traditional method at a meteorological station was 3,2 cm. The standard deviation of heights of snow cover obtained from the results of processing only GLONASS radio signals was 5,6 cm. At the same time, for the GLONASS system, the dependence of the discrepancies with the reference data on the height of the snow cover is obvious: the greater the depth of the snow cover, the smaller the discrepancies. Thus, the standard deviation of discrepancies, calculated under conditions of the height of the snow cover above 10 cm, is only 3,0 cm. Thus, it can be preliminarily concluded that the GNSS refletometry method is able to supplement the traditional method of measuring the height of the snow cover.
{"title":"Measuring the height of snow cover using GNSS reflectometry","authors":"V. V. Kalinnikov, A. V. Ustinov, N. S. Kosarev","doi":"10.33764/2411-1759-2023-28-1-6-13","DOIUrl":"https://doi.org/10.33764/2411-1759-2023-28-1-6-13","url":null,"abstract":"Height of the snow cover is an important parameter used to predict crop yields and floods. The traditional method of measuring the height of the snow cover according to the readings of three snow gauges has the disadvantage that in open areas the snow cover is blown out and redistributed under the influence of the wind. The new method of GNSS reflectometry makes it possible to circumvent this disadvantage by averaging the height of the snow cover over a certain local area around the antenna of the ground-based GNSS radio signal receiver. The aim of the study is to assess the accuracy of determining the height of the snow cover using GNSS reflectometry using the example of the IRKM station (Irkutsk city) for the winter period 2021/2022. It has been established that the standard deviation of heights of the snow cover determined by reflectometry of GPS and GLONASS radio signals from heights of the snow cover recorded by the traditional method at a meteorological station was 3,2 cm. The standard deviation of heights of snow cover obtained from the results of processing only GLONASS radio signals was 5,6 cm. At the same time, for the GLONASS system, the dependence of the discrepancies with the reference data on the height of the snow cover is obvious: the greater the depth of the snow cover, the smaller the discrepancies. Thus, the standard deviation of discrepancies, calculated under conditions of the height of the snow cover above 10 cm, is only 3,0 cm. Thus, it can be preliminarily concluded that the GNSS refletometry method is able to supplement the traditional method of measuring the height of the snow cover.","PeriodicalId":486194,"journal":{"name":"Vestnik SGUGiT","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135151882","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 : 2023-01-01DOI: 10.33764/2411-1759-2023-28-3-23-32
M. G. Mustafin, H. I. Moussa, M. R. Abboud, A. H. Jalloul
The article deals with the issue of using satellite leveling technology to create referenced height networks. The topic is relevant with the possibility of determining normal heights according to satellite determinations. At the same time, ensuring that the appropriate accuracy is associated with the solution of technological and computational problems. The first one is connected with the formulation of experimental studies to clarify the degree of variability of the reference surfaces, on which the transfer of the mark depends on the geometric leveling method. The second one is aimed to clarify the quasi-geoid marks for certain territories according to satellite determinations, quasi-geoid model, and geometric leveling. The use of satellite leveling technology is especially appropriate for countries with either no existing state geodetic network, or an undeveloped one, which in turns prevents finding a full-fledged solution of the practical problems. The presented method of satellite leveling includes the analysis of the deviations accuracy from the plumb line. An example of testing the methodology in Lebanon is given.
{"title":"Using the satellite leveling technique for creating a height network in Lebanon","authors":"M. G. Mustafin, H. I. Moussa, M. R. Abboud, A. H. Jalloul","doi":"10.33764/2411-1759-2023-28-3-23-32","DOIUrl":"https://doi.org/10.33764/2411-1759-2023-28-3-23-32","url":null,"abstract":"The article deals with the issue of using satellite leveling technology to create referenced height networks. The topic is relevant with the possibility of determining normal heights according to satellite determinations. At the same time, ensuring that the appropriate accuracy is associated with the solution of technological and computational problems. The first one is connected with the formulation of experimental studies to clarify the degree of variability of the reference surfaces, on which the transfer of the mark depends on the geometric leveling method. The second one is aimed to clarify the quasi-geoid marks for certain territories according to satellite determinations, quasi-geoid model, and geometric leveling. The use of satellite leveling technology is especially appropriate for countries with either no existing state geodetic network, or an undeveloped one, which in turns prevents finding a full-fledged solution of the practical problems. The presented method of satellite leveling includes the analysis of the deviations accuracy from the plumb line. An example of testing the methodology in Lebanon is given.","PeriodicalId":486194,"journal":{"name":"Vestnik SGUGiT","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135156720","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 : 2023-01-01DOI: 10.33764/2411-1759-2023-28-3-128-132
V. S. Korneyev, S. L. Shergin
Micro-electromechanical (MEMS) deflectors with electromagnetic control and an experimental stand for measuring their functional parameters are considered. The electromagnetic control method makes it possible to obtain a high positioning accuracy of the reflected beam along one spatial coordinate, and also provides increased speed with the time of deviation of the light flux to a predetermined position of 5–10 μs. Graphs of experimental and theoretical dependences of the angle of deviation of the light flux on the induction of the control magnetic field of MEMS deflectors are presented. Using the method of successive approximations, the value of the magnetic permeability of the dipole material µ = 120 was selected, and the maximum value of the angular deviation of the light flux along one spatial coordinate was determined, which is 13.50. The MEMS presented in this paper can be used, first of all, as high-speed deflectors and optical flow scanners with a beam diameter of up to 2.5 mm.
{"title":"Investigation of the parameters of MEMS deflectors to determine the magnetic permeability of the dipole material","authors":"V. S. Korneyev, S. L. Shergin","doi":"10.33764/2411-1759-2023-28-3-128-132","DOIUrl":"https://doi.org/10.33764/2411-1759-2023-28-3-128-132","url":null,"abstract":"Micro-electromechanical (MEMS) deflectors with electromagnetic control and an experimental stand for measuring their functional parameters are considered. The electromagnetic control method makes it possible to obtain a high positioning accuracy of the reflected beam along one spatial coordinate, and also provides increased speed with the time of deviation of the light flux to a predetermined position of 5–10 μs. Graphs of experimental and theoretical dependences of the angle of deviation of the light flux on the induction of the control magnetic field of MEMS deflectors are presented. Using the method of successive approximations, the value of the magnetic permeability of the dipole material µ = 120 was selected, and the maximum value of the angular deviation of the light flux along one spatial coordinate was determined, which is 13.50. The MEMS presented in this paper can be used, first of all, as high-speed deflectors and optical flow scanners with a beam diameter of up to 2.5 mm.","PeriodicalId":486194,"journal":{"name":"Vestnik SGUGiT","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135157050","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 : 2023-01-01DOI: 10.33764/2411-1759-2023-28-3-68-76
A. V. Bankrutenko, N. S. Eliseeva
Currently, agriculture in the world, including Russia, is turning into one of the clearest examples of the rapid and successful introduction of new technologies, and these include the use of unmanned aerial vehicles (UAV), so we set a goal to study the use of UAVs in the farms of the agroindustrial complex in the conditions of the subtaiga zone of Western Siberia, in particular in the farms of the Tarsky municipal district of the Omsk region. The article presents studies that were carried out for the first time in the Omsk region. The feature of the research is the use of a quadcopter to monitor agricultural land in a highly wooded area (65-70%). As a result of the work, all the tasks were completed, the positive and negative sides of the use of drones in the farms of the subtaiga of the Omsk region were revealed. We believe that our practical experience in the use of UAVs in agriculture will be useful for relevant managers and specialists.
{"title":"The use of unmanned aerial vehicles in the farms of the subtaiga zone of Western Siberia","authors":"A. V. Bankrutenko, N. S. Eliseeva","doi":"10.33764/2411-1759-2023-28-3-68-76","DOIUrl":"https://doi.org/10.33764/2411-1759-2023-28-3-68-76","url":null,"abstract":"Currently, agriculture in the world, including Russia, is turning into one of the clearest examples of the rapid and successful introduction of new technologies, and these include the use of unmanned aerial vehicles (UAV), so we set a goal to study the use of UAVs in the farms of the agroindustrial complex in the conditions of the subtaiga zone of Western Siberia, in particular in the farms of the Tarsky municipal district of the Omsk region. The article presents studies that were carried out for the first time in the Omsk region. The feature of the research is the use of a quadcopter to monitor agricultural land in a highly wooded area (65-70%). As a result of the work, all the tasks were completed, the positive and negative sides of the use of drones in the farms of the subtaiga of the Omsk region were revealed. We believe that our practical experience in the use of UAVs in agriculture will be useful for relevant managers and specialists.","PeriodicalId":486194,"journal":{"name":"Vestnik SGUGiT","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135158208","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 : 2023-01-01DOI: 10.33764/2411-1759-2023-28-1-45-58
V. S. Khoroshilov, O. G. Pavlovskaya, N. N. Kobeleva, Kh. K. Yambaev
The article discusses the features of mathematical modeling of the stress-strain state of landslide slopes to predict their movements. Regular control and monitoring of exogenous geological processes are important elements of a qualitative assessment of landslide events, including both the timely identification of areas with the greatest danger and the elimination of their consequences. The natural and technogenic features of the study area are considered. The previous results of the processing of geodetic observation data are presented, which are the basis for mathematical modeling of the stress-strain state of landslide slopes and for predicting their movements. Based on the Fourier transform, a spectral study of the vertical displacements of landslide signs was carried out and an analysis of the obtained spectrograms was made. Modeling of movements of landslide slopes subject to technogenic impacts (blasting and removal of a large amount of soil) is implemented on the basis of a forecast dynamic model. The model is presented in a recurrent form in the form of the first two conditional moment functions, which made it possible to predict the movements of controlled landslide slopes with a sufficiently high accuracy.
{"title":"Mathematical modeling of the displacements dynamics of landslide slopes under the conditions of technogenic impacts","authors":"V. S. Khoroshilov, O. G. Pavlovskaya, N. N. Kobeleva, Kh. K. Yambaev","doi":"10.33764/2411-1759-2023-28-1-45-58","DOIUrl":"https://doi.org/10.33764/2411-1759-2023-28-1-45-58","url":null,"abstract":"The article discusses the features of mathematical modeling of the stress-strain state of landslide slopes to predict their movements. Regular control and monitoring of exogenous geological processes are important elements of a qualitative assessment of landslide events, including both the timely identification of areas with the greatest danger and the elimination of their consequences. The natural and technogenic features of the study area are considered. The previous results of the processing of geodetic observation data are presented, which are the basis for mathematical modeling of the stress-strain state of landslide slopes and for predicting their movements. Based on the Fourier transform, a spectral study of the vertical displacements of landslide signs was carried out and an analysis of the obtained spectrograms was made. Modeling of movements of landslide slopes subject to technogenic impacts (blasting and removal of a large amount of soil) is implemented on the basis of a forecast dynamic model. The model is presented in a recurrent form in the form of the first two conditional moment functions, which made it possible to predict the movements of controlled landslide slopes with a sufficiently high accuracy.","PeriodicalId":486194,"journal":{"name":"Vestnik SGUGiT","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135157966","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 : 2023-01-01DOI: 10.33764/2411-1759-2023-28-2-47-59
V. G. Andronov, A. A. Chuev
The article considers a method for determining abnormal changes in the trajectory and orientation of unmanned aerial vehicles in the conditions of loss of signals from satellites in the interests of improving the accuracy of navigation support for their exit to a given point of the horizontal flight route. The developed technique is based on the functional relationship of the difference in parallaxes of adjacent pairs of images obtained by the onboard camera of unmanned aerial vehicles during flight, with their deviations from the horizontal trajectory and changes in orientation. The obtained analytical relations allow for each corresponding point of a pair of images to form and solve a system of two nonlinear equations with five unknowns, which use deviations of unmanned aerial vehicles in altitude and direction of flight and their pitch, roll and yaw angles, approximate values of which are determined by the inertial navigation system. The procedures for the refinement of these parameters based on the math-ematical processing of the measurement results of the plane coordinates of the corresponding points by the method of least squares are presented. The proposed approach makes it possible to halve the minimum number of processed points and ensures the accuracy of determining the deviations of unmanned aerial vehicles from the horizontal trajectory and changes in its angular orientation, commensurate with the accuracy of satellite navigation.
{"title":"Determination of changes in the trajectory and orientation of unmanned aerial vehicles from overlapping images","authors":"V. G. Andronov, A. A. Chuev","doi":"10.33764/2411-1759-2023-28-2-47-59","DOIUrl":"https://doi.org/10.33764/2411-1759-2023-28-2-47-59","url":null,"abstract":"The article considers a method for determining abnormal changes in the trajectory and orientation of unmanned aerial vehicles in the conditions of loss of signals from satellites in the interests of improving the accuracy of navigation support for their exit to a given point of the horizontal flight route. The developed technique is based on the functional relationship of the difference in parallaxes of adjacent pairs of images obtained by the onboard camera of unmanned aerial vehicles during flight, with their deviations from the horizontal trajectory and changes in orientation. The obtained analytical relations allow for each corresponding point of a pair of images to form and solve a system of two nonlinear equations with five unknowns, which use deviations of unmanned aerial vehicles in altitude and direction of flight and their pitch, roll and yaw angles, approximate values of which are determined by the inertial navigation system. The procedures for the refinement of these parameters based on the math-ematical processing of the measurement results of the plane coordinates of the corresponding points by the method of least squares are presented. The proposed approach makes it possible to halve the minimum number of processed points and ensures the accuracy of determining the deviations of unmanned aerial vehicles from the horizontal trajectory and changes in its angular orientation, commensurate with the accuracy of satellite navigation.","PeriodicalId":486194,"journal":{"name":"Vestnik SGUGiT","volume":"2014 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135158202","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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