Improving the Accuracy of Determining the Parameters of the Movement of an Object Based on A Priori Information

The article is dedicated to the problem of substantiating various methods for increasing the accuracy of determining the parameters of ground object (GO) motion using equipment installed on board of an unmanned aerial vehicle (UAV), based on the integrated use of information coming from both on-board video surveillance systems and information based on the consideration of a priori stochastic mathematical models of GO motion. Based on the analysis of mathematical models of on-board video surveillance systems, a general form of the stochastic mathematical model of the GO motion parameter measurer is substantiated. A stochastic dynamic mathematical model of changing GO motion parameters is substantiated, based on the possibility of a priori obtaining experimental data on GO motion under typical conditions with subsequent statistical processing of the obtained results. The applied problem of GO tracking was reduced to its classical formulation with various options for representing it in mathematical form. Various options for solving the problem of estimating GO motion parameters are considered depending on its formulation in the presence of measurements. A number of analytically obtained solutions to this problem are presented, based on the corresponding substantiated quality criteria. In accordance with these criteria, the corresponding algorithms for the complex processing of a priori and a posteriori information on the motion of the GO are presented. An assessment of possible errors in estimating the parameters of the GO motion caused by a methodologically incorrect formulation of the problem has been carried out. A computer model has been developed, on the basis of which a study of the algorithms for processing information on the parameters of the GO motion on board the UAV obtained by analytical methods hs been carried out. The given graphical dependencies clearly show the qualitative and quantitative changes in the estimated parameters and possible estimation errors in various conditions. The obtained results provide researchers with the opportunity, at the stage of preliminary design of on-board UAV systems to justify some basic requirements for the elements of the unmanned aircraft complex that perform the tasks of controlling the UAV and forming the optimal trajectory of its flight when tracking the GO.

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