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Machine Vision and Navigation pp 537–577Cite as

Methods for Ensuring the Accuracy of Radiometric and Optoelectronic Navigation Systems of Flying Robots in a Developed Infrastructure

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Abstract

The analysis of the known methods and navigation systems of flying robots (FR) was performed. Among them, because of a number of shown below reasons, the most preferable are passive combined correlation-extreme systems which implement the survey-comparative method. A basic model for the radiometric channel operation of the correlation-extreme navigation systems is proposed. The factors that lead to distortions of the decisive function formed by the combined correlation-extreme navigation system of flying robots in a developed infrastructure are allocated. A solution of the problem of autonomous low-flying flying robot navigation in a developed infrastructure using the radiometric channel extreme correlation navigation systems (CENS), when the size of the solid angle of associated object is much larger than the size of the partial antenna directivity diagram (ADD), is proposed. The appearance possibility of spurious objects that are close in parameters (geometric dimensions and brightness) to the anchor object, depending on the current image sight geometry formed by the optoelectronic channel of the combined CENS, is taken into account.

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Abbreviations

ACS:

Automated control systems

ADD:

Antenna directivity diagram

CAF:

Correlation analysis field

CCC:

Coefficient of cross correlation

CENS:

Channel extreme correlation navigation systems

CENS-I:

CENS in which information is currently removed at a point

CENS-II:

CENS in which information is currently removed from a line

CENS-III:

CENS in which information is currently removed from an area (frame)

CI:

Current image

CS:

Control systems

DF:

Decision function

EMR:

Electromagnetic radiation

FO:

False object

FR:

Flying robots

FW-UAV:

Fixed wings unmanned aerial vehicle

IF:

Informational field

INS:

Inertial navigation system

LPF:

Low-pass filter

NS:

Navigation system

OB:

Object of binding

PM:

Propagation medium

RI:

Reference image

RM:

Radiometric

RMI:

Radiometric imaging

RW-UAV:

Rotary wings unmanned aerial vehicle

SD:

Standard deviation

SDPN:

Sensors of different physical nature

SI:

Source image

SS:

Sighting surface

TNM:

Technical navigation means

UAV:

Unmanned aerial vehicle

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Author information

Authors and Affiliations

  1. Scientific Center of Air Forces, Kharkiv National Air Force University named after Ivan Kozhedub, Kharkiv, Ukraine

    Oleksandr Sotnikov

  2. Kharkiv National University of Radioelectronics, Kharkiv, Ukraine

    Vladimir G. Kartashov

  3. Kharkiv National Air Force University named after Ivan Kozhedub, Kharkiv, Ukraine

    Oleksandr Tymochko

  4. Universidad Autónoma de Baja California, Mexicali, Mexico

    Oleg Sergiyenko & Vera Tyrsa

  5. Leuphana University of Lueneburg, Lueneburg, Germany

    Paolo Mercorelli

  6. Facultad de IngenierÐa Mexicali, Universidad Autónoma de Baja California, Mexicali, Baja California, Mexico

    Wendy Flores-Fuentes

Authors
  1. Oleksandr Sotnikov
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  2. Vladimir G. Kartashov
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  3. Oleksandr Tymochko
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  4. Oleg Sergiyenko
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  5. Vera Tyrsa
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  6. Paolo Mercorelli
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  7. Wendy Flores-Fuentes
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Corresponding author

Correspondence to Vladimir G. Kartashov .

Editor information

Editors and Affiliations

  1. Universidad Autónoma de Baja California, Mexicali, Baja California, Mexico

    Oleg Sergiyenko

  2. Universidad Autónoma de Baja California, Mexicali, Baja California, Mexico

    Wendy Flores-Fuentes

  3. Leuphana University of Lueneburg, Lueneburg, Low Saxony, Niedersachsen, Germany

    Paolo Mercorelli

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Sotnikov, O. et al. (2020). Methods for Ensuring the Accuracy of Radiometric and Optoelectronic Navigation Systems of Flying Robots in a Developed Infrastructure. In: Sergiyenko, O., Flores-Fuentes, W., Mercorelli, P. (eds) Machine Vision and Navigation. Springer, Cham. https://doi.org/10.1007/978-3-030-22587-2_16

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  • DOI: https://doi.org/10.1007/978-3-030-22587-2_16

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