gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya / Gyroscopy and Navigation0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.2015.23.2.003-017gyroscopy-395Research ArticleСтатьиНовая система навигации и наведения микролетательных аппаратов, способных беспрепятственно проникать в зданияПоппМ.

Попп Мануэль, аспирант, научный сотрудник. 

ПрофетС.

Профет Сильвия, аспирант, научный сотрудник.

ШольцГ.

Шольц Георг, аспирант, научный сотрудник

ТроммерГ. Ф.

Троммер Герт Ф., доктор наук, профессор .Действительный член общественного объединения «Академия навигации и управления движением».

Институт оптимизации систем (г. Карлсруэ)GermanyИнститут оптимизации систем, (г. Карлсруэ); Университет ИТМО (Санкт-Петербург)Germany201518122025232317Copyright © Попп М., Профет С., Шольц Г., Троммер Г.Ф., 20252025Попп М., Профет С., Шольц Г., Троммер Г.Ф.Попп М., Профет С., Шольц Г., Троммер Г.Ф.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/395

Микролетательные аппараты (МЛА) применяются в аварийно-спасательных службах для автономного исследования опасных территорий. Особую сложность представляет автономный доступ в здания в силу неуверенного приема сигналов ГНСС в городских условиях и узких проходах в здания. В статье представлена комплексная система обеспечения полета, состоящая из подсистем наведения, навигации и управления, спроектированных для обеспечения безопасного проникновения в здания. Система наведения разделена на две части. Подсистема наведения по видеоданным обеспечивает маневрирование МЛА в промежуточном положении перед зданием. Подсистема наведения по потенциальным полям позволяет МЛА проникать в здания, избежав столкновений. При этом не требуется никаких исходных данных о структуре здания, а также карт. Чтобы обеспечить управление полетом по данным о реальном кинематическом состоянии МЛА, используется точная и робастная система навигации, не зависящая от спутниковых измерений. Оценивается функционирование комплексной системы путем моделирования полетных данных.

Micro Aerial Vehicles for autonomous explorations of hazardous areas are predestined to support emergency and rescue forces. Especially the autonomous access to buildings is highly demanding due to insufficient GNSS reception in urban terrain and narrow passageways into buildings. Thus, this paper presents a complete flight system, consisting of guidance, navigation and control subsystems. All these elements are designed to enable save flights into buildings. The guidance subsystem is divided into two parts. The vison based guidance part is manoeuvring the MAV on an intermediate position in front of the building. The potential field based guidance part enables the MAV to fly inside the buildings without having any collisions. For that, neither any prior knowledge about the building’s structure, nor any maps are necessary. To provide the flight guidance with information about the actual kinematic state of the MAV an accurate and robust navigation system not depending on GNSS measurements is used. The complete system is evaluated using simulated flight data.

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The authors declare that there are no conflicts of interest present.