Synthesis of an adaptive algorithm for estimating the angular orientation of moving objects based on quasi-optimal motion models taking into account autopilot commands
https://doi.org/10.46973/0201-727X_2025_4_8
Abstract
The work is devoted to the topical issue of improving the accuracy of determining the angular orientation of autonomous aerial vehicles using a dynamic motion model by utilizing a priori information about control signals generated by the onboard autopilot in external stimuli mode.
The developed algorithm is based on a second-order quasi-optimal motion model obtained taking into account dynamic constraints and rational assumptions.
To analyze the effectiveness of the obtained algorithm, numerical simulation of the attitude estimation process for a multirotor unmanned aerial vehicle was carried out. The obtained results demonstrate an increase in the accuracy of estimating the angular orientation of an unmanned aerial vehicle by an average of 7–15 % compared to a similar algorithm without taking into account the autopilot commands.
About the Authors
M. O. Nakonechnaya
Rostov State Transport University (RSTU)
Russian Federation
Russian Federation
Nakonechnaya Marina Olegovna, Chair «Communications in Railway Transport», Postgraduate Student
A. S. Penkov
Rostov State Transport University (RSTU)
Russian Federation
Russian Federation
Penkov Anton Sergeevich, Chair «Communications in Railway Transport», Candidate of Engineering Sciences, Associate Professor
A. A. Kostoglotov
Rostov State Transport University (RSTU)
Russian Federation
Russian Federation
Kostoglotov Andrey Aleksandrovich, Chair «Communications in Railway Transport», Doctor of Engineering Sciences, Professor, Head of the Chair
E. S. Leonov
Rostov State Transport University (RSTU)
Russian Federation
Russian Federation
Leonov Egor Sergeevich, Chair «Communications in Railway Transport», Student
V. P. Tavunov
Rostov-on-Don Research Institute of Radio Communications (RSIRC)
Russian Federation
Russian Federation
Tavunov Vladimir Petrovich, Head of the Department
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Review
For citations:
Nakonechnaya M.O., Penkov A.S., Kostoglotov A.A., Leonov E.S., Tavunov V.P. Synthesis of an adaptive algorithm for estimating the angular orientation of moving objects based on quasi-optimal motion models taking into account autopilot commands. Vestnik Rostovskogo Gosudarstvennogo Universiteta Putej Soobshcheniya. 2025;(4):8-18. (In Russ.) https://doi.org/10.46973/0201-727X_2025_4_8
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