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Synthesis of an algorithm for estimating parameters of a multiposition surveillance system and research of filtering divergence

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DOI 10.51955/2312-1327_2024_1_78

Vyacheslav V. Erokhin

Boris V. Lezhankin

Dmitry Y. Urbansky

Abstract. The accuracy of aircraft position measurements directly affects flight safety and is one of the most important tactical characteristics. The introduction of new advanced surveillance tools, such as multi-position surveillance systems (MPSS), can significantly increase the level of flight safety, as well as improve the efficiency of airspace use. The authors consider the task of improving the quality of MPSS functioning and increasing the accuracy of estimating the aircraft coordinates. The accuracy of position-fixing is determined by the error in measuring the time of signal arrival under the influence of noise and interference. Random disturbances must be taken into account to ensure high-quality MPSS operation. This is achieved by applying the methods of Kalman filtration theory. Therefore, to solve the problem of estimating the MPSS state variables, it is proposed to use a Kalman filter (KF). The effectiveness of using the Kalman filter depends on the adequacy of mathematical models and real processes. Model inaccuracies associated with the functioning of navigation systems lead to KF divergence. The paper presents the results of theoretical studies and simulating the MPSS functioning processes based on the implementation of the KF algorithm.

Keywords: Kalman filter, divergence of the filtering process, estimation algorithm, multi-position surveillance system, random disturbances, aircraft.

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Urbansky Dmitry Yurevich

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E–mail: urbdim.ru@gmail.com

Place of work: East Siberian branch of the Federal State Unitary Enterprise Russian Metrological Institute of Technical Physics and Radio Engineering, Irkutsk, Russia

Post: engineer

Scientific major: methods and algorithms for optimal filtering and control in multi-position observation systems

Establishing the possibility of implementing the plan during centralized transportation of cargo by road transport in cities

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DOI 10.51955/2312-1327_2024_1_157

Evgeny E. Vitvitsky

Roxana E. Shipitsyna

Abstract. The article presents one of the possible transport situations obtained by solving the routing problem. The article outlines an approach to executing the transportation plan obtained when solving the routing problem when using various methods of organizing cargo transportation and “Incoterms” conditions. The authors come to the conclusion that it is possible to use the territorial method of centralized transportation of goods by road in cities in modern practice.

Keywords: routing method, matrix of combined plans, transport situations, routes, transportation plan, centralized transportation, transport method.

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Control of the flight path of an unmanned aerial vehicle with different configurations of navigation information sources

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DOI 10.51955/2312-1327_2024_1_113

Boris V. Lezhankin

Vyacheslav V. Erokhin

Nikolay P. Malisov

Abstract. In real conditions of application for high-precision positioning and trajectory control of unmanned aerial vehicles (UAVs) when flying along a route, insufficient noise immunity and operating accuracy of satellite navigation system receivers are manifested. In this regard, it is relevant to study possible methods and means of providing high-precision navigation definitions based on complex processing of signals from various sources of navigation information when solving the problem of displaying a UAV in a terminal set.

The article presents the results of developing a UAV trajectory control algorithm based on methods of statistical optimal control theory, the implementation of which will improve the accuracy of maintaining a given flight route. The characteristics for analyzing errors in maintaining the flight path are considered.

The results of modeling and research of the characteristics of the trajectory control algorithm for various configurations of navigation information sources (NIS) are presented and the dependence of the accuracy of maintaining a given UAV flight route on errors in estimating navigation parameters is shown.

Keywords: trajectory control, unmanned aerial vehicle, Letov-Kalman algorithm, sources of navigation information, automatic dependent surveillance.

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Malisov Nikolai Pavlovich

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E–mail: malisovnik@mail.ru

Place of work: Irkutsk Branch of Federal State Budgetary Educational Institution of Higher Education «Moscow State Technical University of Civil Aviation», Irkutsk, Russia

Post: Senior Lecturer, Department of Aviation Radioelectronic Equipment

Scientific major: methods and algorithms for optimal filtering and control in integrated navigation systems based on inertial and satellite technologies.

Important publications:

  1. Bolelov E. A., Chalupin S. V., Malisov N. P. (2021). The technique of determining the operability scope of an airborne flight navigation complex on a set of invariant control ratios. Aktual’nye problemy i perspektivy razvitiya grazhdanskoj aviacii: sbornik trudov X Mezhdunarodnoj nauchno-prakticheskoj konferencii. Irkutsk: Irkutskij filial federal’nogo gosudarstvennogo byudzhetnogo obrazovatel’nogo uchrezhdeniya vysshego obrazovaniya «Moskovskij gosudarstvennyj tekhnicheskij universitet grazhdanskoj aviacii». pp. 68-74. – EDN BMYZJE. (in Russian)
  2. Erokhin V. V., Karachentsev V. A., N. P. Malisov (2021). Analysis of the influence of the trajectory of motion of a dynamic controlled object on the accuracy of determining navigation parameters. Sovremennye tekhnologii. Sistemnyj analiz. Modelirovanie. pp. 145-153. DOI 10.26731/1813-9108.2021.2(70).145-153. (in Russian)
  3. Ermakov A., Povarenkin N., Malisov N. (2023). Research of Projection Algorithms for Solving Problems of Measuring Angular Coordinates of Low-Flying Radar Targets. In: Gorbachev, O.A., Gao, X., Li, B. (eds) Proceedings of 10th International Conference on Recent Advances in Civil Aviation. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-3788-0_25.
  4. Bolelov E., Shalupin S., Malisov N. (2023). The Technique of Determining the Operability Scope of an Airborne Flight Navigation Complex on a Set of Invariant Control Ratios. In: Gorbachev, O.A., Gao, X., Li, B. (eds) Proceedings of 10th International Conference on Recent Advances in Civil Aviation. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-3788-0_16.

Experimental assessment of spatial stabilization accuracy of the DJI Air 2s quadcopter

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DOI 10.51955/2312-1327_2024_1_128

Roman O. Arefyev

Oleg N. Skrypnik

Natalya G. Arefyeva (Astrakhanceva)

Abstract. The paper proposes a method for assessing the actual accuracy of spatial stabilization of a DJI Air 2S quadcopter using its video camera and processing the resulting video sequences with a developed software package in the mode of hovering over a reference object. The software package was implemented using the OpenCV library in Python. To register deviations of stabilization systems from a given position, it is proposed to use a reference field with known geometric parameters, information about which is entered into the processing algorithm. The main task of the software package is to identify the boundaries of the reference field and measure the geometric sides in pixels which allows you to determine the center of the field and measure its deviation relative to the center of the image as well as determine the height of the unmanned aerial vehicle flight. In the work the height measurement algorithm was tested. This technique is used to evaluate the accuracy of quadcopter stabilization with various combinations of navigation sensors used for this purpose. A statistical analysis of the obtained results was carried out and conclusions were drawn about compliance with the characteristics of positioning accuracy declared by the manufacturer using optical obstacle avoidance systems and satellite navigation systems.

Keywords: unmanned aerial vehicle (UAV), stabilization systems, technical vision, GNSS.

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Simulation of ADS-B data confirmation with temperature correction when estimating flight altitude on local air lines (part 2)

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DOI 10.51955/2312-1327_2024_1_90

Andrey S. Kalintsev

Abstract. In the first part of the article, the author proposed a modified method for confirming the ADS-B data, which estimates and compares the aircraft flight altitude: barometric altitude (received from a barometric pressure altimeter) and geometric altitude (received from a GNSS receiver). In the presented work, application of the modified technique for confirming the ADS-B geometric altitude data is simulated. When simulating, real data were used which were received from the ADS-B ground station located at the Mezen aerodrome. Real values of pressure and temperature were used. The methodology takes into account the values of quality indicators of ADS-B data. For one flight on local airlines, an excess of the permissible interval was shown (GNSS data, according to the methodology, are not confirmed). The result obtained is consistent with the geometric vertical accuracy parameter GVA. To verify the modified method of the temperature determination according to geometric and barometric altitude, the obtained temperature data are compared with the values of the ECMWF forecasting model. The average RMSE value for 11 flights was 1.58ºС. For climbing aircraft the maximum RMSE value was 1.93ºС, for landing aircraft, maximum RMSE = 2.7°C.

Key words: flight safety, ADS-B, model, local airlines, barometric altitude, geometric altitude, TAS, IAS.

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Sensory and intersensory model of the pilot – aircraft system

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DOI 10.51955/2312-1327_2024_1_67

Gennady V. Kovalenko

Artem A. Fedorov

Andrey V. Fedorov

Abstract. The paper provides an overview of the components of the pilot model used to design the flight control system which focuses on the physiological aspects and aspects of manual control. The structure of a multi-element system is used which allows the authors to reveal the totality of interaction between the pilot and the aircraft during the implementation of manual control. Manual control is the most difficult process when performing an aircraft flight and requires a lot of experience and high pilot skills. The sensory and intersensory models of the pilot–aircraft system are considered. The application of these models requires knowledge of the mechanisms and processes that are directly involved in the development of the pilot’s spatial orientation when controlling the aircraft manually. The development of a method and a mathematical model for the formation of spatial orientation skills is an urgent task of scientific research.

Keywords: pilot, model, spatial disorientation, aircraft, sensory organs, human factor.

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Fedorov Artem Anreevich

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E–mail: melom111@yandex.ru

Place of study: Saint Petersburg State University of Civil Aviation named after Air Chief Marshal A.A. Novikov, Saint Petersburg, Russia

Academic status: Postgraduate student of the Department of Flight Operation and Safety of Civil Aviation.

Specialty from nomenclature of scientific specialties (Code of Higher Attestation Commission):  05.22.14 – operation of air transport

Scientific major: flight operation, flight safety, professional training of flight personnel

Important publications:

  1. Verstiuk A., Kovalenko G., Fedorov A., Patrikeev O. Methods for Assessing the Influence of External Factors on Airplane Flight // In: Gorbachev O. A., Gao X., Li B. (eds) Proceedings of 10th International Conference on Recent Advances in Civil Aviation. Lecture Notes in Mechanical Engineering. Singapore: Springer, 2023. P. 297-306. https://doi.org/10.1007/978-981-19-3788-0_26.
  2. Kochkarev G. K. Some reasons for aircraft getting into a difficult spatial position / G. K. Kochkarev, E. A. Senozhatsky, A. A. Fedorov // Problems of flight operation and flight safety. – 2019. – № 13. – P. 58-66.
  3. Fedorov A. V. Analysis of the functional states of the pilot affecting flight safety / A. V. Fedorov, O. A. Pimashin, A. A. Fedorov // Problems of flight operation and flight safety. – 2020. – № 14. – P. 160-174.
  4. Fedorov A. A. Prerequisites for the integration of the quality management system into the flight safety management system / A. A. Fedorov, A. V. Fedorov // Problems of flight operation and flight safety. – 2018. – № 12. – P. 189-193.

Fedorov Andrey Valerievich

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E–mail: fav1309@yandex.ru

Place of work: Saint Petersburg State University of Civil Aviation named after Air Chief Marshal A.A. Novikov, Saint Petersburg, Russia

Academic degree: Candidate of pedagogical sciences.

Academic status: Associate professor.

Post: Dean of the Faculty of Airports and Flight Engineering

Specialty from nomenclature of scientific specialties (Code of Higher Attestation Commission): 13.00.08 – Theory and methodology of vocational education

Scientific major: flight operation, flight safety, professional training of flight personnel, human factor

Important publications:

  1. Osipov L. V. Problems associated with the process of making aviation decisions, and ways to solve them / L. V. Osipov, A. V. Fedorov // Problems of flight operation and flight safety. – 2018. – № 12. – P. 70-77.
  2. Fedorov A. A. Prerequisites for the integration of the quality management system into the flight safety management system / A. A. Fedorov, A. V. Fedorov // Problems of flight operation and flight safety. – 2018. – № 12. – P. 189-193.
  3. Fedorov A. V. Analysis of the functional states of the pilot affecting flight safety / A. V. Fedorov, O. A. Pimashin, A. A. Fedorov // Problems of flight operation and flight safety. – 2020. – № 14. – P. 160-174.
  4. Rubtsov E. A. Features of detection of unmanned aircraft using a landing radar / E. A. Rubtsov, A. V. Fedorov, N. V. Povarenkin, M. Al-Ruboy // News of higher educational institutions of Russia. Radioelectronics. – 2022. – № 25(3). – P. 51-61. https://doi.org/10.32603/1993-8985-2022-25-3-51-61.
  5. Mezhetov M., Tikhova A., Vakhrusheva U., Fedorov A. Applying LoRa Technology in Unmanned Aircraft Systems // In: Gorbachev O. A., Gao X., Li B. (eds) Proceedings of 10th International Conference on Recent Advances in Civil Aviation. Lecture Notes in Mechanical Engineering. Singapore: Springer, 2023. – pp. 189-197. https://doi.org/10.1007/978-981-19-3788-0_17.
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