Mathematical model for errors estimation of object’s location parameters determination using flying platform
2019
Korolov, V., Hetman Petro Sahaidachnyi National Army Academy, Lviv (Ukraine) | Savchuk, S., Lviv Polytechnic National Univ. (Ukraine) | Korolova, O., Hetman Petro Sahaidachnyi National Army Academy, Lviv (Ukraine) | Milkovich, I., Hetman Petro Sahaidachnyi National Army Academy, Lviv (Ukraine) | Zaec, Y., Hetman Petro Sahaidachnyi National Army Academy, Lviv (Ukraine)
Some tasks require identification of landmarks in districts beyond the reach of existing optical observation facilities. The accuracy of their determination significantly affects the effectiveness of the use necessary equipment during the task. In the paper an algorithm to determine the object parameters using a flying platform is offered. An observation point is installed which is equipped with a navigation system to solve this task. This ensures its orientation and positioning. From the observation point an aerial observation point is displayed. It is suggested to use a flying platform. The coordinates of the flying platform are determined relative to the observation point; the coordinates of the landmarks are determined relative to the flying platform. The mathematical model of the estimation error determination of object coordinates with the help of a flying platform is proposed. The analysis of errors in determining the parameters of the object using a flying platform is conducted. Analysis of the results of mathematical modelling is conducted using the package of applications Mathcad. The dependence of these parameters on the relative position of the observation point, platforms and object is examined. It is shown that the main contribution to the error of determining the coordinates of the landmark is given by the errors of determining the observation point location and measuring the range. An analytical correlation is obtained, which allows to estimate the errors of determining the coordinates of the landmark using the flying platform with known errors in determining the observation point coordinates and the range determination of the range finder.
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