1.2.2. Classification of UAVs according to the principle of flight According to this criterion, all UAVs can be divided into 5 groups (the first 4 groups relate to aerodynamic type devices): 1) UAVs with a rigid wing (aircraft-type UAV); 2) UAVs with a flexible wing; 3) UAVs with a rotating wing wing (UAV

1.2.2.1. Aircraft-type UAV This type of vehicle is also known as a fixed-wing UAV. The lift of these devices is created aerodynamically due to the pressure of air flowing onto the fixed wing. Devices of this type are usually

1.2.2.2. UAVs with flexible wings These are cheap and economical aerodynamic-type aircraft, in which not a rigid, but a flexible (soft) structure made of fabric, elastic polymer material or elastic material is used as a load-bearing wing.

1.2.2.3. Helicopter-type UAV This type of vehicle is also known as a rotary-wing UAV, rotorcraft UAV, helicopter UAV. They are often also called VTOL UAV (Vertical Take-off and Landing UAV) - UAVs with vertical take-off and landing. The latter is not entirely correct, since in the general case

1.2.2.4. UAVs with flapping wings UAVs with flapping wings (flapping-wing UAV) are based on the bionic principle - copying the movements created in flight by flying living objects - birds and insects. Although this class of UAVs does not yet have mass-produced devices and practical

1.2.2.5. Aerostatic-type UAVs Aerostatic-type UAVs (blimps) are a special class of UAVs in which the lift force is created primarily by the Archimedean force acting on a cylinder filled with a light gas (usually helium). This class is presented in

1.2.3. Classification of UAVs by flight parameters 3.3. Promising Russian UAVs (based on materials) Short-range UAVs designed for flights at low altitudes are quite widely represented on the Russian market. Several companies are developing such devices; they are used

2 Intended use 2.1 Indication of safety measures IT IS PROHIBITED: - OPENING AND CLOSING THE COVER WITH HANDLE WHEN THE TRANSMITTER IS INSTALLED IN THE "OG" POSITION; - SHOOTING FROM A GRENADE LAUNCHER IF THE STOCK IS NOT POSITIONED IN THE FIGHTING POSITION AND IS NOT FIXED; - SHOOTING FROM

• UAVs are developed taking into account the safety requirements of use and application.
• Using this technology, it is possible to track cargo, vehicles, and track low-flying vehicles.
• Surveillance, object search, target designation.
• Transportation, logistics, delivery. Courier services.
• Work in hazardous areas with risk to life. Obtaining primary information for rescue services.
• Searching for people in the mountains, during avalanches, in road accidents, in emergency situations.
• Monitoring and protection of private property and borders.

Civilian UAVs have the following technical components:

Conducting work on the development of unmanned aerial vehicles (UAVs) is considered one of the most promising courses in the development of current combat aviation. The use of drones or drones has already led to important changes in the tactics and strategy of military conflicts. Moreover, it is believed that in the very near future their importance will increase significantly. Some military experts believe that the positive shift in the development of drones is the most important achievement in the aircraft industry of the last decade.

However, drones are used not only for military purposes. Today they are actively involved in the “national economy”. With their help, aerial photography, patrolling, geodetic surveys, monitoring of a wide variety of objects are carried out, and some even deliver purchases home. However, the most promising new drone developments today are for military purposes.

Many problems are solved with the help of UAVs. Mainly, this is intelligence activity. Most modern drones were created specifically for this purpose. In recent years, more and more attack unmanned vehicles have appeared. Kamikaze drones can be identified as a separate category. UAVs can conduct electronic warfare, they can be radio signal repeaters, artillery spotters, and aerial targets.

For the first time, attempts to create aircraft that were not controlled by humans were made immediately with the advent of the first airplanes. However, their practical implementation occurred only in the 70s of the last century. After which a real “drone boom” began. Remotely controlled aircraft have not been realized for quite some time, but today they are produced in abundance.

As often happens, American companies occupy a leading position in the creation of drones. And this is not surprising, because funding from the American budget for the creation of drones was simply astronomical by our standards. So, during the 90s, three billion dollars were spent on similar projects, while in 2003 alone they spent more than one billion.

Nowadays, work is underway to create the latest drones with longer flight duration. The devices themselves must be heavier and solve problems in difficult environments. Drones are being developed designed to combat ballistic missiles, unmanned fighters, and microdrones capable of operating in large groups (swarms).

Work on the development of drones is underway in many countries around the world. More than one thousand companies are involved in this industry, but the most promising developments go straight to the military.

Drones: advantages and disadvantages

The advantages of unmanned aerial vehicles are:

• A significant reduction in size compared to conventional aircraft, leading to a reduction in cost and an increase in their survivability;
• The potential to create small UAVs that could perform a wide variety of tasks in combat areas;
• The ability to conduct reconnaissance and transmit information in real time;
• There are no restrictions on use in extremely difficult combat situations associated with the risk of their loss. During critical operations, multiple drones can easily be sacrificed;
• Reduction (by more than one order of magnitude) of flight operations in peacetime, which would be required by traditional aircraft, preparing the flight crew;
• Availability of high combat readiness and mobility;
• Potential for the creation of small, uncomplicated mobile drone systems for non-aviation forces.

The disadvantages of UAVs include:

• Insufficient flexibility of use compared to traditional aircraft;
• Difficulties in resolving issues with communication, landing, and rescue of vehicles;
• In terms of reliability, drones are still inferior to conventional aircraft;
• Limiting drone flights during peacetime.

A little history of unmanned aerial vehicles (UAVs)

The first remote-controlled aircraft was the Fairy Queen, built in 1933 in Great Britain. It was a target aircraft for fighter aircraft and anti-aircraft guns.

And the first production drone to participate in a real war was the V-1 rocket. This German “miracle weapon” bombarded Great Britain. In total, up to 25,000 units of such equipment were produced. The V-1 had a pulse jet engine and an autopilot with route data.

After the war, they worked on unmanned reconnaissance systems in the USSR and the USA. Soviet drones were spy planes. With their help, aerial photography, electronic reconnaissance, and relay were carried out.

Israel has done a lot to develop drones. Since 1978 they have had their first drone, the IAI Scout. During the 1982 Lebanon War, the Israeli army, using drones, completely destroyed the Syrian air defense system. As a result, Syria lost almost 20 air defense batteries and almost 90 aircraft. This affected the attitude of military science towards UAVs.

The Americans used UAVs in Desert Storm and the Yugoslav campaign. In the 90s, they became leaders in the development of drones. So, since 2012, they had almost 8 thousand UAVs of a wide variety of modifications. These were mainly small army reconnaissance drones, but there were also attack UAVs.

The first of them, in 2002, eliminated one of the heads of al-Qaeda with a missile strike on a car. Since then, the use of UAVs to eliminate enemy military forces or its units has become commonplace.

Types of drones

Currently, there are a lot of drones that differ in size, appearance, flight range, and functionality. UAVs differ in their control methods and their autonomy.

They can be:

• Uncontrollable;
• Remote controlled;
• Automatic.

According to their sizes, drones are:

• Microdrones (up to 10 kg);
• Minidrones (up to 50 kg);
• Mididrons (up to 1 ton);
• Heavy drones (weighing more than a ton).

Microdrones can stay in the air for up to one hour, minidrones - from three to five hours, and middrones - up to fifteen hours. Heavy drones can stay in the air for more than twenty-four hours while making intercontinental flights.

Review of foreign unmanned aerial vehicles

The main trend in the development of modern drones is to reduce their size. One such example would be one of the Norwegian drones from Prox Dynamics. The helicopter drone has a length of 100 mm and a weight of 120 g, a range of up to one km, and a flight duration of up to 25 minutes. It has three video cameras.

These drones began to be produced commercially in 2012. Thus, the British military purchased 160 sets of PD-100 Black Hornet worth $31 million to conduct special operations in Afghanistan.

Microdrones are also being developed in the United States. They are working on a special program, Soldier Borne Sensors, aimed at developing and deploying reconnaissance drones with the potential to extract information for platoons or companies. There is information about plans by the American army leadership to provide individual drones to all soldiers.

Today, the RQ-11 Raven is considered the heaviest drone in the US Army. It has a mass of 1.7 kg, a wingspan of 1.5 m and a flight of up to 5 km. With an electric motor, the drone reaches speeds of up to 95 km/h and stays in flight for up to one hour.

It has a digital video camera with night vision. The launch is done manually, and no special platform is needed for landing. The devices can fly along specified routes in automatic mode, GPS signals can serve as landmarks for them, or they can be controlled by operators. These drones are in service with more than a dozen countries.

The US Army's heavy UAV is the RQ-7 Shadow, which conducts reconnaissance at the brigade level. It went into serial production in 2004 and has a two-fin tail with a pusher propeller and several modifications. These drones are equipped with conventional or infrared video cameras, radars, target illumination, laser rangefinders, and multispectral cameras. Guided five-kilogram bombs are suspended from the devices.

The RQ-5 Hunter is a mid-size half-ton drone developed jointly by the US and Israel. Its arsenal includes a television camera, a third-generation thermal imager, a laser rangefinder and other equipment. It is launched from a special platform using a rocket accelerator. Its flight zone is within a range of up to 270 km, within 12 hours. Some modifications of Hunters have pendants for small bombs.

The MQ-1 Predator is the most famous American UAV. This is a “reincarnation” of a reconnaissance drone into an attack drone, which has several modifications. The Predator conducts reconnaissance and carries out precision ground strikes. It has a maximum take-off weight of more than a ton, a radar station, several video cameras (including an IR system), other equipment and several modifications.

In 2001, a high-precision laser-guided Hellfire-C missile was created for it, which was used in Afghanistan the following year. The complex has four drones, a control station and a satellite communications terminal, and it costs more than four million dollars. The most advanced modification is the MQ-1C Gray Eagle with a larger wingspan and a more advanced engine.

The MQ-9 Reaper is the next American attack UAV, which has several modifications and has been known since 2007. It has a longer flight duration, controlled aerial bombs, and more advanced radio electronics. The MQ-9 Reaper performed admirably in the Iraq and Afghanistan campaigns. Its advantage over the F-16 is its lower purchase and operating price, longer flight duration without risk to the life of the pilot.

1998 - the first flight of the American strategic unmanned reconnaissance aircraft RQ-4 Global Hawk. Currently, this is the largest UAV with a take-off weight of more than 14 tons, with a payload of 1.3 tons. It can stay in the airspace for 36 hours, while covering 22 thousand km. It is assumed that these drones will replace U-2S reconnaissance aircraft.

Review of Russian UAVs

What is at the disposal of the Russian army these days, and what are the prospects for Russian UAVs in the near future?

"Bee-1T"- Soviet drone, first flew in 1990. He was a fire spotter for multiple launch rocket systems. It had a mass of 138 kg and a range of up to 60 km. He took off from a special installation with a rocket booster and landed by parachute. Used in Chechnya, but outdated.

"Dozor-85"- reconnaissance drone for the border service with a mass of 85 kg, flight time up to 8 hours. The Skat reconnaissance and attack UAV was a promising vehicle, but work has been suspended for now.

UAV "Forpost" is a licensed copy of the Israeli Searcher 2. It was developed back in the 90s. "Forpost" has a take-off weight of up to 400 kg, a flight range of up to 250 km, satellite navigation and television cameras.

In 2007, a reconnaissance drone was adopted "Tipchak", with a launch weight of 50 kg and a flight duration of up to two hours. It has a regular and infrared camera. "Dozor-600" is a multi-purpose device developed by Transas, which was presented at the MAKS-2009 exhibition. It is considered an analogue of the American Predator.

UAVs "Orlan-3M" and "Orlan-10". They were developed for reconnaissance, search and rescue operations, and target designation. The drones are extremely similar in appearance. However, they differ slightly in their take-off weight and flight range. They take off using a catapult and land by parachute.

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Performing various tasks, both in the military and civilian spheres, significantly expands the range of UAVs that can be used for this purpose. It is already clear that in the near future several platforms will be required, with different types of engines and, most importantly, with different sets of on-board equipment.

It can be noted that the most numerous class "drones", today in Russia, these are electric aircraft weighing up to 15 kg. Almost all of them are able to fly Notmore2hours, take off, as a rule, using launch devices and land, in most cases, by parachute. The relatively small take-off weight also limits the payload weight, therefore, most of these UAVs have a replaceable payload, which in itself, in this situation, is justified.

There are a large number of problems, both in the military and civilian spheres, that can be successfully solved using such devices. These UAVs should be cheap, used by unskilled flying specialists, not require serious maintenance and be mobile without the use of special vehicles. The ground part of such a system should be simple and easy to use. Actually, this is the path that most developers of these systems follow. Given the low weight of the payload, the requirements for on-board optical and infrared sensors increase significantly. The system's sensors should perform mainly observational functions and, to a lesser extent, measuring ones.

There is no need to create special units to operate these systems. A high degree of automation should allow ordinary specialists in both the military and civilian spheres to operate these systems.

The next step in the classification of the use of UAVs is the creation of “drones” for conducting reconnaissance of the earth’s surface and water areas at a distance of 100 km. To perform such tasks, “unmanned” equipment must be used, capable of flying day and night, in simple and difficult weather conditions. Apparently such equipment should be able to examine the area in detail before 1000 km 2 in one flight. This can only be achieved by UAVs capable of flying for at least 10 hours. A distance of 100 km is determined by the direct radio visibility distance from a height of up to 3 thousand m, at which it is possible, without signal relaying, to ensure the transmission of streaming images in real time. It is not difficult to calculate that when flying in a straight line, with the condition of returning to the departure point, such a UAV is capable of flying to a distance of 600 km. A device capable of flying for 10 hours will have a take-off weight 100 -20 0 kg and, of course, will require a runway of at least 300 m in length, as well as maintenance by a qualified crew. Currently, such devices are capable of taking off using launch devices.

For the military, these UAVs can be part of a reconnaissance unit of a formation such as a brigade (to be the brigade’s day and night vision), or for civilian specialists, they can be used as part of the organization that operates it. For the FSB Border Troops, such devices can be part of a unit such as a detachment and provide control over a significant section of the border, especially in high mountains, in the Far North and in conditions of maritime border protection. Transmission of video and photographic images in real time makes it possible to organize interaction with other technical means of protecting the State Border.

Means of ground support for the operation of such complexes are formed on the basis of mobile control points (MCP), located, as a rule, on a vehicle chassis, as well as from mobile temporary control points (TCP), located in places where UAV take-off/landing is supported. The ability to place PVPU directly on the territory of the outpost allows you to receive information in your area of ​​​​responsibility in real time when a UAV flies along the border. Considering the flight duration of these UAVs, we can say that one UAV unit, consisting of one or two complexes, is capable of monitoring a section of the border up to 1000 km long.

BYAWSmanagementby flightUAV

The software allows you to display a video image from a forward-looking camera on the monitor of the pilot-operator's workstation and displays telemetric information. Telemetry information is displayed in the “heads-up display” mode or in the “virtual instruments” mode. The monitor also synthesizes the position of flight mission points and other spatial information that helps the pilot control the UAV’s flight along the route.

Figure 1: Pilot-operator software frame.

BYAWSmanagementby flightUAV allows the pilot operator to:

Control the flight of the UAV during the route and landing;

Change the flight mission when performing a flight in the radio visibility zone;

Automatically receive warnings when the UAV goes beyond the established limits (flight speed, roll, pitch, flight altitude above the terrain).

BY has an intuitive interface, protecting operators from possible errors. Modular architecture BY allows you to configure it to work on computers with different characteristics, connecting new controls or actuators.

BYAWSoperatortargetequipment(observer)

drone software

BY The observer's workstation (Figure 2) is designed to search for a target, capture and track a target, and issue target designation. The monitor displays video from the UAV's PTZ camera, information about the direction of the camera, information about the position of the center of the frame on the ground. Given BY allows the observer:

Control the onboard rotating optical-thermal imaging head;

Control the optical zoom of the camera;

Determine the coordinates of the center of the field of view or any object in the field of view;

Designate a target with automatic determination of its coordinates;

Capture and track a target.

Figure 2: Frame from observer's workstation software.

BY processing And representation video information

Electronicstabilizationvideo used in BY The observer's workstation provides:

- improved video perception, especially when viewing at high magnification, when the effect of camera shake is especially noticeable;

- reducing the quality requirements for camera hardware stabilization or completely eliminating the use of hardware stabilization, reducing the weight and cost of the surveillance system;

- increasing the degree of image compression, which allows you to transmit data over a greater distance with better quality.

Teleautomatescort

The tracking teleautomatic is designed to capture and track a target. The teleautomatic device provides automatic target tracking in any real conditions: when changing the scale, viewing angle of the object, changing the illumination and contrast of the object, when the object periodically disappears from the field of view.

Accuracydefinitionscoordinatesobject

The error in determining the coordinates of an object identified or indicated by the operator in the image is determined by a combination of instrumental and methodological errors.

Instrumental errors include:

- error in determining the coordinates and altitude of the UAV;

- accuracy of determining the heading, roll, and pitch angles of the UAV;

- accuracy of synchronization of the moment the camera shutter is released with data from the UAV navigation system;

- error in determining the camera position relative to the navigation system sensors (UAV center of mass);

- error in determining camera distortion.

The magnitude of methodological errors is affected by:

- UAV flight altitude above the terrain;

- distance from the positioned object (target) to the nadir point (target removal);

- complexity of the terrain.

Taking into account the above factors in the modern configuration of the Dozor UAV:

Accuracy of determination of orientation angles 0.1є

The accuracy of determining the heading angle is 1є

Synchronization accuracy 0.1 sec

Discreteness of information TsKRM1 ang. sec. (at the latitude of Moscow it is equivalent to 80 m)

GNSS receiver rated accuracy:

in plan coordinates 10 m

in height 20 m

At a flight altitude of 1000 m above the terrain at a speed of 100 km/h, the total error in determining the coordinates of an object located at an angle of 30° from the camera line of sight will be about 200 m(SKO).

Increased accuracy can be achieved by reducing instrumental errors (using higher accuracy sensors as part of the navigation system), or by using an accurate pre-referenced photo map of the area, for example, a satellite image.

We have technologies for linking to both a 2D photo map and a 3D photo map. The average overlay accuracy will be 2-3 pixels of the original map, or about 5 m.

GluingAndcorrectionmosaicphotographic images

As a result of area or extended survey, an array of high-resolution photographs is formed. Each photograph has a coordinate reference according to the UAV navigation system and data on the UAV orientation angles at the time the photograph was taken. Original BY allows you to automatically perform the following in the shortest possible time after the array of images is received by the NPU computer:

- correction of color and brightness of pictures;

- simultaneous stitching of frames;

- orthorectification;

- cutting maps into mosaics.

Work productivity BY allows you to process 1000 pictures taken with a 12 megapixel camera in 1 hour.

Figure 4: Stitching together a survey of an extended object.

Application options

The above tactical and technical characteristics of the Dozor series UAVs and the characteristics of their on-board systems allow the use of UAVs for aerial reconnaissance purposes as an aviation component that provides:

- 24-hour surveillance of the battlefield;

- intelligence secrecy;

- the ability to conduct reconnaissance in low cloud conditions;

- safety of personnel.

Patrolling

Regular patrols are carried out along a given route.

To illustrate the use of UAVs within radio visibility, a UAV patrol route was constructed along the state border of the Russian Federation based in the area of ​​Orsk (Figure 5). When designing the route, the specified range of the Dozor-85 UAV command radio link (up to 100 km) was taken into account. Thus, the initial and final PPM are removed from the take-off point (TPL) by 65 km and 61 km, respectively. The length of the patrol route is 135 km, and the flight time at a patrol speed of 100 km is 1 hour 30 minutes (taking into account the curvature of the trajectory). Taking into account the flight time at a speed of 150 km/h, the total time on the route will be 2 hours 20 minutes (total length of the route 235 km).

Drawing6 reproduces a patrol route based on the limitation of the maximum flight duration of the UAV. The total length of the route will be 615 km (5 hours 30 minutes), including the length of the patrol zone 355 km (3 hours 30 minutes). It should be emphasized that, when performing a flight mission on a route of maximum operational length, the UAV does not have the opportunity to fly over any point at the operator’s command, being outside the radio visibility zone, and complete the execution of the mission. Depending on the “delay” time, the route must be shortened, and at the final waypoints, overflying the area is impossible.

Concentric circles with radii:

· 50 km from the starting point approximately corresponds to the reachable zone within 1 hour from the moment the combat order to use the UAV is received

· 100 km corresponds to 1 hour 15 minutes

· 200 km - maximum operational range

Terrain reconnaissance

Drawing7 illustrates the use of UAVs for reconnaissance of terrain for 1 hour at the maximum operational range. The maximum remoteness of the reconnaissance area is 350 km. At a flight speed of 150 km/h, the UAV will reach the patrol zone in 2 hours 20 minutes, can remain in the zone for 1 hour and return to the starting point. The total flight duration will be 5 hours 30 minutes.

Figure 7

Intelligence serviceVmountainterrain. Accounting features relief terrain

UAV flight planning in mountainous conditions is carried out using digital terrain maps (DTRM). Freely available commercial CCRMs obtained from satellite imagery provide sufficient accuracy in determining the height of the terrain in combination with precise coordinate reference.

Experience applications UAV "Watch- 90 E » V mountain terrain

In 2008, a trial operation of the complex with the Dozor-90 E UAV was carried out in the interests of the Border Service of the FSB of the Russian Federation (Figure 8). In the period from October 15 to October 19, 11 UAV flights were carried out with a total duration of 5 hours 30 minutes. The flights were carried out in the daytime in simple and difficult weather conditions, with wind speeds at the surface of the earth: headwind - 15 m/s, sidewind - 10 m/s, tailwind - 5 m/s. The takeoff was carried out from a site located at an altitude of 1000 m above sea level, the maximum flight altitude of the UAV was 3000 m.

In operation, the Dozor-90 E UAV showed high flight and operational qualities; all systems of the complex operated normally.

Based on the results of the flights, a photographic map of the flight area was compiled along the border of the Russian Federation (Figure 8).

Figure 8: UAV landing on an unprepared site in the outpost area

Applications of UAVs in the coastal zone

The scenario of ground-based deployment of a complex with a UAV and reconnaissance over sea waters at the operational range of the UAV is considered.

Standard optical means of UAV target equipment can be used for short-range reconnaissance and target identification.

Currently, the main technical component of monitoring the situation at maritime borders is technical observation posts (TSP), which are a network of coastal radar stations. The target detection range of the PTN radar is up to 25 km. This is approximately the distance of one PTN from another. The use of UAVs in conjunction with PTN will allow:

1) significantly increase target detection range;

2) reduce the target identification time.

Patrollingcoastalzones

When patrolling in the coastal zone, the UAV route is laid along the coastline beyond the range of the PTN radar. In addition to standard equipment, PTNs are equipped with communication equipment with UAVs. Thus, when flying around a route, the UAV is constantly in contact with the nearest PTN, transmitting video and photo information to it.

At the same time, UAVs are capable of identifying a detected target using optical surveillance means, approaching the target at a close distance. In this case, the target can be detected either directly by the UAV or by any of the STVs of this network. In the second case, the UAV, at the operator’s command, flies to a given area, interrupting the route, or rising from its home base.

Intelligence serviceremotegoals

To conduct reconnaissance of remote targets, Dozor UAVs can be used autonomously, similar to use at the maximum operational range (Figure 8).

Working outside the radio visibility zone of its NPU, the UAV equipment registers all the information of the target equipment in the on-board storage devices. Data analysis is carried out after returning to base. In another embodiment, information is transmitted in real time to a ship located in the direct radio visibility zone from the UAV. Thus, target detection and identification is carried out using on-board optical-electronic surveillance systems.

ApplicationUAVtogetherWithremotelymanageableby boat

We have been working on issues of interaction between sea and air remote means for conducting reconnaissance over the seas.

The following algorithm for the integrated use of funds is proposed (Figure 9):

Figure 9: Integrated use of remote reconnaissance systems.

· a UAV performing a reconnaissance flight detects a target and transmits its coordinates to the control post via a communication channel with the PTN;

· a decision is made to exert influence;

· a remotely controlled boat is sent to the area with given coordinates;

· while the boat is moving, the UAV continues to track the target, guiding the boat;

· Having reached the target, the boat exerts influence on the target, fixing the coordinates and time. Real-time data is transmitted using UAVs to PTN and NPU.

It is also relevant to use such complexes in the fight against poachers, for example, in the Astrakhan floodplains and in the fight against drug trafficking in certain areas of our country.

The ground equipment of such complexes allows the deciphering operator to recognize targets and issue the coordinates of found objects with a high degree of accuracy. The user of such a system decides how to use the obtained coordinates.

Let us show, using the example of a decoder complex developed by Transas Vision, how this process can occur:

Intellectualcomplexdecryptionimages

The complex is designed to connect the UAV, as a source of information, to the consumer.

The complex allows you to connect one or several UAVs to the consumer at the same time.

Complex functions

The complex automatically performs the following functions:

- information processing for the purpose of its visualization (photo, video, SAR, telemetry)

- processing information in order to obtain accurate target designation

- image decryption

- preparation of formalized message options

- delivery to the consumer of a message selected by the operator

- saving incoming information in the database

- recording of operator actions

- delivery of processed information to any hierarchy level selected by the consumer

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Description of the complex's operation

Visualization

The complex displays all information in the Transas Globe geographic information environment, which allows you to view raster and vector maps, relief, 3D and moving objects in a single 3D form at an arbitrary scale (up to the entire Earth inclusive).

Telemetry

Telemetric the data is displayed in the form of a UAV track and a 3D model of the UAV (taking into account its orientation). At the same time, the UAV flight mission can be displayed.

Photo

Singlesphotos

Single photos can be displayed:

- in the shooting angle (viewed in Transas Globe from the shooting point)

- from any angle

The photo is displayed in orthomorphic form, taking into account the relief.

When specifying a photo pixel automaticallyare calculatedcoordinatesspecifiedpointssurfacesEarth

Vector map layers selected by the operator can be automatically superimposed on the photo.

Groups photos

Groups of photos can be displayed:

- with overlay based on original or updated telemetric data

- in a mosaic of images (stitched map)

- in the form of 3D maps (via 3D restoration)

Video

Video can be displayed:

- from the shooting angle (viewed on the Globe from the shooting point)

- from any angle

The video is displayed in orthorectic form, taking into account the relief.

When specifying a video pixel automaticallyare calculatedcoordinatesspecifiedpointssurfacesEarth, taking into account telemetry, camera distortion and terrain.

Vector map layers selected by the operator, as well as telemetric information, can be automatically superimposed on the video.

Accurate target designation

For accurate target designation, the following methods are used:

- stitching of consecutive frames

- filing the frame to the photo base

- card stitching

Image decryption

The following methods are used to decrypt images:

Decryption photo And individual personnel video

- self-learning recognition

- fractal analysis

- spectral analysis

- search by special points

Decryption video

- selection of moving targets

- goal support

Decryption 3 D -kart

- 3D shape recognition

Preparation, selection and delivery of formalized messages

When the desired object is detected, the operator’s monitor displays an image of the object, information about it (type of object, coordinates, speed, etc.) and options for action for the type of object found.

When the operator selects one of the actions proposed by the system, a formal message is automatically generated.

The operator can also initiate the issuance of a formal message by indicating the position and type of object in the image.

Documentation

All incoming information is automatically archived in a form convenient for quick viewing.

The software of the complex also automatically records in the database all operator actions and all formal messages issued by the system.

The software of the complex can also provide all or any part of the incoming or processed information to a higher level of the control system for its display and analysis.

The ground equipment of such complexes allows the deciphering operator to recognize targets and issue the coordinates of found objects with a high degree of accuracy. How to use the received coordinates, decidesmyselfconsumersuchsystems.

The Dozor-100 UAV is a development of the Dozor-85 UAV in the direction of increasing the flight duration and range.

The extended wing made it possible to improve the flight quality of the airframe and, consequently, reduce fuel consumption during cruising flight. Thus, the flight duration of the Dozor-100 UAV increased to 10 hours with a large payload weight.

The exhaust system is hidden inside the fuselage, which reduces thermal signature in flight and reduces exhaust noise. Placing the power plant in the aft part of the airframe allows for a rational arrangement of the UAV payload and frees up space for placing antenna devices of various types. The use of a V-shaped tail ensures correct alignment of the airframe when placing the engine in the tail of the UAV fuselage.

ControlUAV"Watch"

The UAV is controlled from a mobile control point ( MPU) from the pilot-operator's workstation or a mobile temporary control point ( PVPU). UAV " Watch» are equipped with a modern flight navigation system (FNS) with an automatic control system. The PNC includes:

- an inertial system integrated with a global navigation satellite system (GNSS) GLONASS/GPS receiver, providing determination of coordinates, flight altitude, heading angles and orientation of the UAV;

- an air signal system that provides determination of airspeed and barometric altitude;

- low altitude radio altimeter;

- an autopilot module that provides control commands to the UAV flight controls.

AWSpilot operatorUAV

3 UAV control modes are implemented:

Directmanualcontrol according to species information coming from a forward-looking video camera. In this mode, the pilot operator controls the UAV and directly acts on the controls, as if he were in the cockpit. The mode is used in the near zone to bring the UAV onto the landing glide path and when landing in manual control mode. The technology used is to display on the windshield information received via telemetry channels from the UAV navigation and flight system (HUD - head-up display).

Vectorcontrol allows the pilot operator to influence the UAV through the autopilot: change the altitude and speed of flight, perform a turn in a given direction, fly around a point and other standard flight procedures.

Autoflight is the main method of controlling a UAV and is carried out under the control of an autopilot along a route determined by a given sequence of turning points (RPM). During the flight, the pilot operator can interfere with the operation of the autopilot by issuing the following commands:

- introduction of new planning points;

- loading a new flight route;

- cancellation of the flight mission and command to return the UAV;

- command to fly over a given point or loiter over a certain area.

Before the flight, a flight mission (PO) is drawn up in the form of a route determined by the coordinates of the turning points. A scanned map, aerial photographs, or satellite image can be used as a cartographic background. For flights in mountainous areas with difficult terrain, it is necessary to take into account the features of the terrain, both when planning the flight route and when placing a ground tracking station. The flight mission is saved in the memory of the MPU computer and a route database is formed. Upon completion of the drafting of the PP, the program automatically checks it for “feasibility”, taking into account the specified characteristics of the UAV.

PO planning screen.

Upon completion of the route, the UAV arrives at the final destination of the route, where it makes an automatic approach and lands like an airplane under the control of a pilot operator.

The standard configuration of the MPU consists of two workstations: the pilot and the payload operator. A mobile execution of the workstation on a tablet computer is possible, allowing you to transfer information from the UAV directly to the consumer:

Portable UAV control computer.

Auxiliarywaysnavigation

The following methods are considered as auxiliary means of UAV navigation if it is impossible to use GNSS information:

Airborne coursedead reckoningcoordinates allows you to determine the distance traveled and direction using data from the airspeed sensor and the inertial system (or magnetic compass) as a heading sensor.

Communication systems

Onboard communication equipment of the UAV " Watch"(data transmission lines - LTD) provides two-way transmission of data and control commands, as well as real-time transmission of video information from the board to the base station.

The data channel transmits:

From "board" to "ground"

· Telemetric information (coordinates, speed, flight altitude);

· Information about the status of on-board systems.

From "ground" to "board":

· Flight control commands: changing the route, returning, changing flight parameters (speed, altitude, etc.);

· Control commands for flight support equipment (flaps extension, parachute release, landing gear extension, if provided);

· Target load control commands: position of the video camera, turning on the camera, dumping the load.

LPDs are developed and produced by the UAV systems manufacturer " Watch", thus ensuring the technological independence of the product. According to the development specifications, the LPD provides the transmission range of video and telemetric information Notless100 km in direct visibility of the transmitting and receiving antenna of the NPU.

Figure: Communication diagram

Target hardware and software

Target reconnaissance equipment

Target reconnaissance equipment (“payload”) of the UAV “ Dozor-85" And " Dozor-100"has a replaceable configuration and can be installed on board in various configurations:

· Optical-thermal imaginghead(optical and thermal imaging channels are located on the same axis) with 2 degrees of freedom.

· Videocamera520 lines for manual takeoff and landing purposes

· Photographiccomplex high resolution 21 MgPik

· Duplexchannelradio communications for transmitting control and telemetry signals

· Broadbanddigitalchannel with a self-tuning rotating antenna for transmitting streaming video over a distance of at least 100 km

· System satellitecommunications( in development e)

Radar station forward view in mm range

· LateralRadar with synthetic aperture (in development)

· Laserbacklightgoals

The next type in the UAV line should be medium-altitude UAVs with long flight duration. The military from the Ministry of Defense should first of all be interested in such UAVs. This group of “drones” is very close in its functionality to such well-known UAVs as the “Predator” from the USA. One of the features of these “drones” is the presence of a strike function.

An analysis of the targeted use of spacecraft and tactical combat systems with unmanned aerial vehicles (UAVs) during the operation to force Georgia to peace in 2008 showed that in its existing form, none of these means is the only sufficient one to meet the requirements of troops in geo-intelligence information .

The functioning of high-precision weapon systems (HPE) requires not only technical means with highly sensitive sensors and high-speed signal processing facilities, but also appropriate information support, as well as a developed telecommunications network that meets modern requirements.

The information and intelligence infrastructure being created must provide, in a time scale close to real time:

Search, detection, recognition, identification and location of targets;

Formation of the necessary electronic information documents (target forms) for individual flight missions for weapons;

Assessing the results of strikes.

Rapid changes in the operational environment require immediatelyOth response and timely adjustment of tasks to the involved forces and means, especially when working with moving targets.

In addition, in the interests of the WTO, it is necessary to ensure the accuracy of determining the coordinates of the affected objects: no worse 5 - 7 m- for strategic and 3 - 5 m- for operational-tactical command and control levels of the RF Armed Forces.

If in the interests intelligence If the highest image resolution is required, then it is in the interests of WTO It is also acceptable to use medium resolution images (3 - 5 m).

For the purpose of continuous information support (IS) for the application of WTO, the US Armed Forces are actively using strategic reconnaissance unmanned aerial vehicles, mainly large ( more24 hours) flight duration - high-altitude UAV RQ-4A " GlobalHawk"and mid-altitude MQ-1B" Predator".

These devices are designed to conduct airradarAndoptoelectronicintelligence in order to support the actions of the Air Force and other types of armed forces in various theaters of operations, they are capable of transmitting data in real time to ground command posts.

To quickly obtain geospatial information together with reconnaissance satellites offered use complexes with UAVs.

When using high-resolution satellite images as a topographic image to superimpose current intelligence information, a significant increase in the accuracy of determining the coordinates of objects is achieved. Company"R.E.T.Kronstadt" has binding technologies, both 2 D-photo map,SoAndTo3 D-photo map.

To increase the accuracy of target designation, the Transas-Vision company has developed a program TopoTarget. The program automatically stitches the resulting photo with a photo card.

In the case of undefined (flat) relief, the program provides subpixel stitching accuracy, while accuracy target designation corresponds to the accuracy of the photo map.

Principleworkprograms

Before the flight, the TopoTarget program processes a photo map of the flight area, automatically identifying characteristic points on it. The identified characteristic points are entered into a database, then the database is ordered. The photo map can be taken from any aircraft or satellite. Basic photo card requirements:

The photo map should be taken at approximately the same time of year as the flight time.

The resolution of the photo card must be such that the stitched frame occupies an area of ​​at least 800x600 pixels.

When receiving a photograph, the program automatically finds characteristic points in the photograph, the corresponding points in the database compiled during processing of the photo map, selects a self-consistent set in the set of correspondences, and stitches the resulting photo with the photo map.

Interfaceprograms

The result of the program is shown below: the photo map was compiled based on the results of aerial photography of 25 frames. Attached to the map is a frame that was not included in the 25 from which it was compiled.

The following example shows a tank located on a framed frame.

Performance

To speed up the program and eliminate errors, telemetry data is used when filing a frame: matches are searched on the photo map within a given radius from the center of the frame.

Complexes with UAV type "Watch" have a number of significant advantages compared to domestic analogues.

At the enterprises of JSC " Transas“The technical groundwork has been created, there are flying prototypes and a production base has been deployed to create prototypes of such complexes.

Along with this, JSC "Transas" has experience in creating training complexes, which will make it possible in the future to organize training for personnel in managing complexes with UAVs.

UAV "Dozor-85" And "Dozor-100" According to their technical characteristics, they belong to medium-range aircraft. The development used technical solutions similar to UAVs « Shadow-200" And " Predator" According to the characteristics of the UAV target load "Dozor-85"And"Dozor-100" capable of performing the same tasks as the mentioned foreign systems with the exception of drums. Smaller weight and size characteristics were achieved through the use of modern technologies, while foreign analogues were developed in the 90s of the last century.

In the basic configuration, a complex with a UAV "Watch" can be supplied as part of three aircraft and a mobile control center located on the chassis of an all-terrain vehicle.

UAV complex " Watch» can be quickly delivered to the area of ​​application using transport aircraft, railway transport, and waterways. The complex is mobile, and its operations require a minimally prepared site: a dirt strip, a lawn, compacted snow. The complex is moved using an all-terrain vehicle with a trailer.

Periodic maintenance is carried out by trained personnel directly at the base site. Spare parts and necessary tools are supplied included.

The complex is operated by a crew of four to five people.

Complex with UAV "Watch" is fullyautonomous. All units and systems are located on one chassis. The base station systems are powered by a motor-generator; the UAV batteries are recharged using a charger included with the UAV from the vehicle's on-board power supply.

Considering the growing interest of companies in the fuel and energy complex, Russian Railways, the Ministry of Emergency Situations and other departments in the information that can be obtained using complexes with UAVs, it is necessary to provide for the option of a public-private partnership.

These complexes with UAVs should primarily be created according to a principle that takes into account the dual use of UAVs. At the same time, the customer of such UAVs may be financial and industrial groups interested in using the resource of these complexes in peacetime together with the RF Armed Forces. In the process of implementing such projects on the basis of public-private partnership, the resources and contributions of the parties, as well as financial risks and costs, are consolidated and combined. The results achieved are distributed between the parties in predetermined proportions.

Not long ago, information appeared in the open press about US plans to build a UAV before2047 of the year. Analyzing this material, we can once again state the fact that we are still significantly behind the current level of UAV development.

So in this program it is noted that the main emphasis in the development of UAVs will be on devices like PREDATOR and similar devices of later modifications. All UAVs are divided into several groups and each group specifies what equipment the UAVs must carry and what technical specifications they must achieve.

In our country, a device similar to a UAV has not yet been created at all. PREDATOR. The first attempts to create such a device by the Vega concern under the program "Prokhodchik" turned out to be unsuccessful. Yes, to be honest, the designed device can hardly be called an analogue of a UAV PREDATOR. Neither in range, nor in payload, nor in flight duration does this project significantly fall short of the UAV PREDATOR, I’m not even talking about the lack of a training system for managing such UAVs and the lack of simulators for training operators for them.

In the current situation, we need a UAV that is functionally equal to the PREDATOR UAV, and such a UAV does not necessarily have to be close in size to it.

Let's calculate the weight of the load that needs to be lifted into the air in order to perform the functions of a UAV PREDATOR(let's exclude the shock function for now).

OTG (optical-thermal imaging head) - 5 kg,

Photo complex - 4 kg,

AVOVP (analog video take-off/landing system) -1 kg,

LTD (data line) - 0.7 kg,

KRL (command radio line) - 0.3 kg,

AP (autopilot) - 0.4 kg,

SINS (on-board inertial system) - 0.6kg,

Radar (radar station) - 4 kg.

Total: 16 kg.

Is it a lot or a little? Certainly,Nota lot of. This is the real weight that today is capable of lifting a UAV with a maximum take-off weight 100 - 150 kg and this is provided that he must have enough fuel on board 10 hoursflight.

In order to fulfill this condition, the design bureau of ZAO "R.E.T. Kronstadt" designed a UAV " Dozor-100» which is based on the wing design with a center section.

"Dozor-600" and its prototype "Dozor-100" at the MAKS-2009 exhibition.

IN UAV "Dozor100" an engine from a German company is used " 3 W» stamps "210T.S.» . Rated power of such an engine 21.2 hp. When using a shaft generator rotating from an engine, we lose up to 10% of engine power. Thus, the available capacity of our power plant is 19 hp. From design theory it is known that the acceptable load per unit hp. for low-maneuverable aircraft lies within 6-7 kg per hp Therefore, if we take the load in 6 kg per hp, then max. take-off weight will be 114 kg, and when 7 kg per hp this figure will be equal 133 kg.

Considering the fact that we take into account the engine power based on the engine manufacturer’s passport data, in the calculations we decided to limit the take-off weight to 1 1 0 kg, at the same time, strength calculations were performed for weight 130 kg. That. We have a reserve in terms of UAV strength.

At take-off weight of 110 kg we can take on board 40 kg of fuel, in our case it is 54 liters. The maximum fuel consumption obtained during the operation of previous Dozor UAVs with these engines was 5 l/hour. Consequently, we have a fuel reserve that allows us to fly for at least 10 hours at a cruising speed of 120-140 km/h. Accordingly, if there is no wind, we are able to fly 1200-1400 km. Such figures give us the opportunity to conduct reconnaissance for 4-5 hours at a distance of 400 km from the take-off/landing airfield.

That. the task assigned to the UAV in the topic "Prokhodchik" achieved by using UAVs "Dozor-100".

Now let's remember that the UAV PREDATOR also performs a shock function, because capable of carrying 300 pounds of external sling load on the wing. This is the function for UAVs " Dozor-100" is not feasible. 300 feet is 120 kg and this is absolutely impossible. Therefore, for a UAV with an impact function, it is necessary to design another UAV.

Glider UAV"Watch-100", made almost entirely from composite materials. Wingspan - 6.0 m; total take-off weight - 110 kg; power plant - two-stroke engine with a power of 21.2 hp; flight duration - up to 10 hours; cruising altitude 300-1500 m, ceiling 4000 m.

UAV "Dozor-100" took part in exercises in 2009 "West-2009" in Kaliningrad, where he carried out the task of searching for radio patrol ships of NATO countries located in neutral waters during exercises. The task included transmitting images of the found ships and the coordinates of these targets to the exercise control command post.

Map of the exercise area with search sectors for ships.

UAV "Dozor-100" took off from the airfield "Donskoye", located in 20 km from the command post, where the control vehicle with the NPU was located, and flew to neutral waters. In search mode, it flew 200 km in neutral waters, transmitting images over a distance of 55 km in real time. Based on the received images and coordinates, the decryptor operator compiled and transmitted reconnaissance. report to the fleet commander. That. For the first time, a UAV transmitted video images over a distance of more than 50 km.

Together with representatives of OJSC "Research InstituteTP" The possibility of obtaining target coordinates in real time and transmitting them over a distance of more than 50 km was demonstrated.

The control of the UAV in takeoff and landing modes was carried out from a mobile temporary control point (TCP), located 20 km from the control vehicle, and this confirmed the correctness of the chosen concept - a takeoff and landing airfield remote from the theater of military operations.

To complete the assigned task, the UAV "Dozor-100" in total, flew in real conditions more than 300 km in each flight, while the flights were carried out under conditions of intensive use of naval combat aviation, in difficult weather conditions (cloud height 500 m, visibility 2-3 km, side wind - up to 11 m/sec) .

Simply uncovering goals today is not enough. We need to determine their coordinates (“bind”Togeographic informationfundamentally) with the accuracy required for the application high-precision weapons. Satellite-corrected missiles and bombs ensure accurate hits 5-7 m with the prospect of improvement to meters. It must be appropriate target designation. The entire UAV monitoring system is aimed at such precise alignment.

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