Appliсation of the phase correlation algorithm and its extension in the optical stabilizer of unmanned aerial vehicles

2017 ◽  
pp. 111-119
Author(s):  
O.L. Dreval ◽  
◽  
А.Yu. Doroshenko ◽  
◽  
Keyword(s):  
Computational Complexity ◽  
Embedded Systems ◽  
Unmanned Aerial Vehicles ◽  
Phase Correlation ◽  
Absolute Position ◽  
Correlation Algorithm ◽  
Aerial Vehicles ◽  
Algorithm Implementation

The use of the phase correlation algorithm as the basis of unmanned aerial vehicles (UAV) Optical Stabilizer on purpose to determine the displacement of the housing relative to the surface is described. Also, the possibility of application of the phase correlation algorithm extensions to increase accuracy and reduce computing costs is considered. The algorithm implementation in bot MATLAB language and C is provided. The computational complexity of the algorithm implementation in C was experimentally analyzed in the scope of embedded systems. The proposed algorithm gives not only an auxiliary possibility to stabilize the aircraft position but also to calculate absolute position of the aircraft in space.

scholarly journals Development of Non Expensive Technologies for Precise Maneuvering of Completely Autonomous Unmanned Aerial Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 391
Author(s):  
Luca Bigazzi ◽  
Stefano Gherardini ◽  
Giacomo Innocenti ◽  
Michele Basso
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Degrees Of Freedom ◽  
Vision System ◽  
Video Stream ◽  
Measurement Unit ◽  
Absolute Position ◽  
Light Load ◽  
Aerial Vehicles ◽  
Angular Velocities ◽  
Custom Hardware

In this paper, solutions for precise maneuvering of an autonomous small (e.g., 350-class) Unmanned Aerial Vehicles (UAVs) are designed and implemented from smart modifications of non expensive mass market technologies. The considered class of vehicles suffers from light load, and, therefore, only a limited amount of sensors and computing devices can be installed on-board. Then, to make the prototype capable of moving autonomously along a fixed trajectory, a “cyber-pilot”, able on demand to replace the human operator, has been implemented on an embedded control board. This cyber-pilot overrides the commands thanks to a custom hardware signal mixer. The drone is able to localize itself in the environment without ground assistance by using a camera possibly mounted on a 3 Degrees Of Freedom (DOF) gimbal suspension. A computer vision system elaborates the video stream pointing out land markers with known absolute position and orientation. This information is fused with accelerations from a 6-DOF Inertial Measurement Unit (IMU) to generate a “virtual sensor” which provides refined estimates of the pose, the absolute position, the speed and the angular velocities of the drone. Due to the importance of this sensor, several fusion strategies have been investigated. The resulting data are, finally, fed to a control algorithm featuring a number of uncoupled digital PID controllers which work to bring to zero the displacement from the desired trajectory.

Information Technology for the Coordinated Control of Unmanned Aerial Vehicle Teams Based on the Scenario-Case Approach

2019 ◽  
pp. 221-248
Author(s):  
Vladimir Sherstjuk ◽  
Maryna Zharikova
Keyword(s):  
Information Technology ◽  
Computational Complexity ◽  
Unmanned Aerial Vehicles ◽  
Spatial Configuration ◽  
Coordinated Control ◽  
Aerial Vehicles ◽  
Dynamic Scenario ◽  
Spatial Configurations ◽  
Aerial Vehicle ◽  
Coordination Patterns

The authors present a dynamic scenario-case approach to coordinated control of heterogeneous ensembles of unmanned aerial vehicles, which use coordination patterns of activity in similar situations described as spatial configurations affected by observed events. The method of obtaining deviations for approximate spatial configurations, which allows obtaining elements of the safe vehicle's trajectories. The method of qualitative safety assessment is presented. It uses a soft level topology to obtaining blurred boundaries of dynamic safety domains using fuzzy soft level sets and allows finding suitable compensations of vehicles' activity scenarios that can both keep the spatial configuration and satisfy all safety restrictions. The authors demonstrate that the proposed approach significantly reduces the computational complexity of problem solving and provides the acceptable performance.

Information Technology for the Coordinated Control of Unmanned Aerial Vehicle Teams Based on the Scenario-Case Approach

2021 ◽  
pp. 1133-1161
Author(s):  
Vladimir Sherstjuk ◽  
Maryna Zharikova
Keyword(s):  
Information Technology ◽  
Computational Complexity ◽  
Unmanned Aerial Vehicles ◽  
Spatial Configuration ◽  
Coordinated Control ◽  
Aerial Vehicles ◽  
Dynamic Scenario ◽  
Spatial Configurations ◽  
Aerial Vehicle ◽  
Coordination Patterns

The authors present a dynamic scenario-case approach to coordinated control of heterogeneous ensembles of unmanned aerial vehicles, which use coordination patterns of activity in similar situations described as spatial configurations affected by observed events. The method of obtaining deviations for approximate spatial configurations, which allows obtaining elements of the safe vehicle's trajectories. The method of qualitative safety assessment is presented. It uses a soft level topology to obtaining blurred boundaries of dynamic safety domains using fuzzy soft level sets and allows finding suitable compensations of vehicles' activity scenarios that can both keep the spatial configuration and satisfy all safety restrictions. The authors demonstrate that the proposed approach significantly reduces the computational complexity of problem solving and provides the acceptable performance.

scholarly journals A Contribution to Considerations of the Role of Embedded Systems

2014 ◽  
Vol 5 (1) ◽  
pp. 47-56 ◽  
Author(s):  
Josip Stepanić ◽  
Josip Kasać ◽  
Marjana Merkač
Keyword(s):  
Embedded Systems ◽  
Unmanned Aerial Vehicles ◽  
Human Life ◽  
Human Resources Management ◽  
Point Of View ◽  
Systems Science ◽  
General Level ◽  
Specific Level ◽  
Aerial Vehicles ◽  
Gradual Process

Abstract Background: Embedded systems are a ubiquitous part of modern civilisation. Trends point to further intensification of their use. In this article we discuss long-term implications of that process, from the point of view of systems science. Objectives: On a general level, we relate embedded systems to a general class of objects and argue about their role in human life. On a somewhat more specific level, we consider in more details the development of unmanned aerial vehicles. Methods/Approach: In order to achieve the set objectives, we conducted inductive theoretical considerations and presented the results in this section. Results: The hierarchy of notions relating human civilization to environment is established, and embedded systems are positioned within it. Conclusions: Broadening and intensification of the use of embedded systems is a gradual process, heavily intertwined with societal changes. The case study of the development of the unmanned aerial vehicles reveals the potentials of the concept of embedded systems, also in the area of human resources management

scholarly journals Target Assignment for Cooperative Quadrotors Unmanned Aerial Vehicles

2021 ◽  
Vol 2128 (1) ◽  
pp. 012014
Author(s):  
Mohamed Mahfouz ◽  
Ahmed T. Hafez ◽  
Mahmoud M. Ashry ◽  
Gamal Elnashar
Keyword(s):  
Computational Complexity ◽  
Objective Function ◽  
Unmanned Aerial Vehicles ◽  
Assignment Problem ◽  
Target Group ◽  
Optimal Time ◽  
Second Stage ◽  
Aerial Vehicles ◽  
Multiple Uavs ◽  
Target Assignment

Abstract The target assignment for cooperative Unmanned aerial vehicles is a critical topic. Most target assignment approaches yield computational complexity when dealing with multiple UAVs. This work offers target assignment approaches and resolves multiple UAVs problems by introducing a proposal of target assignment approaches. The main contribution of this work is solving the target assignment problem using optimal time approach and gain maximization approach in double stages. At the first stage, the urgently desired target to be fetched from the detected target group is selected by using the proposed objective function based on three attribute values of targets (threating weight - importance weight - separating distance). At the second stage, the proposed objective function is used and assign related UAVs for selected desired targets by considering the coverage factors, adaptive-limitation and constrains.

Development of thickened semi-synthetic engine oil M-5z / 20 AERO for four-stroke gasoline engines aircraft piston of unmanned aerial vehicles (UAVs)

2020 ◽  
Vol 06 ◽  
pp. 44-47
Author(s):  
A.A. Moykin ◽  
◽  
A.S. Medzhibovsky ◽  
S.A. Kriushin ◽  
M.V. Seleznev ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Engine Oil ◽  
Motor Oil ◽  
Gasoline Engines ◽  
State Research Institute ◽  
Technical Requirements ◽  
Aerial Vehicles ◽  
State Research ◽  
Industrial Batch ◽  
The Russian Federation

Nowadays, the creation of remotely-piloted aerial vehicles for various purposes is regarded as one of the most relevant and promising trends of aircraft development. FAU "25 State Research Institute of Chemmotology of the Ministry of Defense of the Russian Federation" have studied the operation features of aircraft piston engines and developed technical requirements for motor oil for piston four-stroke UAV engines, as well as a new engine oil M-5z/20 AERO in cooperation with NPP KVALITET, LLC. Based on the complex of qualification tests, the stated operational properties of the experimental-industrial batch of M-5z/20 AERO oil are generally confirmed.

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