Представлений підхід до вирішення проблеми функціонально стійкого управління безпілотним літальним апаратом на підставі мінімальної системно апаратної надмірності вимірювальних органів. Описано впровадження алгоритмів комп'ютерного зору в завданні візуального орієнтування і відновлення параметрів просторового положення. Продемонстровані дихотомічні алгоритми діагностування системи на наявність відмов, апарат реконфігурації і відновлення в режимі реального часу Ключові слова: функціональна стійкість, діагностика, компенсація, реконфігурація, орієнтація, відмовостійкість, оптична навігаційна система Представлен подход к решению проблемы функционально устойчивого управления беспилотным летательным аппаратом на основании минимальной системно аппаратной избыточности измерительных органов. Описано внедрение алгоритмов компьютерного зрения в задаче визуального ориентирования и восстановления параметров пространственного положения. Продемонстрированы дихотомические алгоритмы диагностирования системы на наличие отказов, аппарат реконфигурации и восстановления в режиме реального времени Ключевые слова: функциональная устойчивость, диагностика, компенсація, реконфигурация, ориентация, отказоустойчивость, оптическая навигационная система

Unmanned aerialvehicles (UAVs) are being actively adopted in various areas of human activity, demonstrating excellent results. Their usage allows to minimize the risks of people being in high-risk conditions, and integration with various systems expands the range of functions that previously seemed impossible.There are currently over 1,500 different official UAV designs, and the number is growing rapidly. The effectiveness of choosing a specific model and its subsequent application for the specific tasks requires a clear classification. Domestic classification is mainly inherent in the military sphere and in the sphere of civil protection with a limited extent, which creates uncertainty for other possible spheres of application. Other classifications do not have sufficient completeness and do not consider an integrated approach to modern requirements and technical characteristics of UAVs.Currently there is no single science-based systematic approach to the design of UAVs based on the use of optimization methods. It is clear that the problem of this kind is multi-criteria, and cannot do without optimization mathematical models and methods. However, the dynamics of the development of elements and solutions, the growth of information objects regarding new models and characteristics, the consideration of interrelated factors make this process impossible without decision support systems. The use of parametric synthesis allows to determine the compromise between stability and workability of systems.Criteria analyze for classification and modern methods for selecting unmanned aerial vehicles.The usage of electronic software tools, so-called electronic drone calculators, can help to solve the problem of choosing the optimal UAV design.Most of the classifications today are oriented to the needs of the military. The main criterion for choosing a scheme depends on the list of expected functions and tasks, flight range and altitude, as well as requirements for cargo capacity and possible on-board equipment. The approach of the mathematical method of multi-criteria evaluation, such as the method of analyzing hierarchies, is optimal.The article is an overview and information.

No abstract

Dichotomizing algorithms of diagnostics and reconfiguration of the navigation system which process indicators of inertial, satellite and optical subsystems in real time for typical types of refusals are considered in the work. The given approach provides majority diagnostics of measuring system with system and hardware redundancy at a minimum necessary set of sensors. The main idea of a method is the comparative analysis of all measuring subsystems behind reference value. The reference value is the parameter which is synthesized from all diagnosable subsystems, in this work – a course corner. When obtaining the only parameter by gages of the different nature it is possible to provide firmness of an algorithm. Also reasonably the possibility of the introduction of optical systems with the use of algorithms of computer sight for ensuring system redundancy of the navigation system is described. The system is intended for identification only of one type of refusal for a unit of time. A positive factor of an invention is the universality that allows using system on any operating small autonomous aircraft. For the introduction of a system, there is no requirement in finishing the hardware. Use of system of failure diagnostics will reduce the risk of loss of the aircraft when performing a task, will increase its efficiency and accuracy of indicators. As a result of researches, the algorithmic dependence of signals of the navigation system was established that allowed to make the analysis and diagnostics with the following renewal of the lost parameter thanks to system and hardware redundancy of devices. Practical use of the system in actual practice with an influence of artificially created obstacles and noise is shown. Developments in area of aircraft safety are necessary due to the need for an increase in level, at the emergence of emergency situations