FUNCTIONAL SUPPORT OF STEADY MOTION OF SUAV

The subjects of the study are the models and methods for providing functionally steady motion control of the small unmanned aerial vehicle (SUAV). The purpose of this work is the development of the method for providing functionally steady motion control of SUAV with a classical, minimally necessary composition of measuring sensors without hardware redundancy. The main task is to improve the existing diagnosing method of inertial navigation system (INS) model of SUAV, based on the combination of signals and the introduction of visual information from the onboard gyrostabilized camera, to implement the method of parrying emergency situation (ES) by applying for situational, synthetically created redundancy. The applied methods are the application of artificial system-hardware redundancy, signal-parametric approach, and the introduction of computer vision methods in the problem of angular and spatial positions calculating. As a result of the research, algorithmic dependencies of the orientation system signals were determined, which allowed to perform analysis and diagnostics with the subsequent restoration of the lost parameter due to hardware-system sensors redundancy. Conclusions. Developments in the field of providing functionally steady motion control systems for SUAV are in demand due to the need to increase the level of safety of SUAV flight upon incurrence of ES. At the same time, an obvious advantage is a work with minimal hardware redundancy of the sensors without the intervention of additional equipment. It is proved the possibility of the introduction of the optical systems (OS) as an additional source of geospatial information based on the use of visual information and computer vision methods with subsequent provision of artificial redundancy and implementation of majority calculation for providing functionally steady motion control of SUAV. It is demonstrated the practical application of the method in real conditions with the influence of artificially created ES. A functionally stable system will increase the effectiveness of existing SUAV, reduce the risk of loss of the apparatus during the fligh