{"id":1355,"date":"2021-01-15T23:24:20","date_gmt":"2021-01-15T21:24:20","guid":{"rendered":"http:\/\/journals.khnu.km.ua\/vestnik\/?p=1355"},"modified":"2021-03-04T15:12:52","modified_gmt":"2021-03-04T13:12:52","slug":"%d0%b5%d0%ba%d1%81%d0%bf%d0%b5%d1%80%d0%b8%d0%bc%d0%b5%d0%bd%d1%82%d0%b0%d0%bb%d1%8c%d0%bd%d1%96-%d0%b4%d0%be%d1%81%d0%bb%d1%96%d0%b4%d0%b6%d0%b5%d0%bd%d0%bd%d1%8f-%d0%b1%d0%b5%d0%b7%d0%bf%d1%96%d0%bb","status":"publish","type":"post","link":"https:\/\/journals.khnu.km.ua\/vestnik\/?p=1355","title":{"rendered":"\u0415\u043a\u0441\u043f\u0435\u0440\u0438\u043c\u0435\u043d\u0442\u0430\u043b\u044c\u043d\u0456 \u0434\u043e\u0441\u043b\u0456\u0434\u0436\u0435\u043d\u043d\u044f \u0431\u0435\u0437\u043f\u0456\u043b\u043e\u0442\u043d\u043e\u0433\u043e \u0430\u0432\u0456\u0430\u0446\u0456\u0439\u043d\u043e\u0433\u043e \u043a\u043e\u043c\u043f\u043b\u0435\u043a\u0441\u0443 \u043f\u0440\u0438 \u0444\u043e\u0442\u043e\u0437\u0430\u0445\u043e\u043f\u043b\u0435\u043d\u043d\u0456"},"content":{"rendered":"

\u0415\u041a\u0421\u041f\u0415\u0420\u0418\u041c\u0415\u041d\u0422\u0410\u041b\u042c\u041d\u0406 \u0414\u041e\u0421\u041b\u0406\u0414\u0416\u0415\u041d\u041d\u042f \u0411\u0415\u0417\u041f\u0406\u041b\u041e\u0422\u041d\u041e\u0413\u041e \u0410\u0412\u0406\u0410\u0426\u0406\u0419\u041d\u041e\u0413\u041e \u041a\u041e\u041c\u041f\u041b\u0415\u041a\u0421\u0423 \u041f\u0420\u0418 \u0424\u041e\u0422\u041e\u0417\u0410\u0425\u041e\u041f\u041b\u0415\u041d\u041d\u0406<\/p>\n

EXPERIMENTAL RESEARCH OF UNMANNED AERIAL VEHICLE CONTROL SYSTEM AT PHOTOCAPTURING<\/p>\n

<\/a> \u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 186-190. \u041d\u043e\u043c\u0435\u0440: \u21163, 2020 (285)<\/strong>
\n\u0410\u0432\u0442\u043e\u0440\u0438:<\/strong>
\n\u0412. \u0406. \u0427\u0438\u0433\u0456\u043d\u044c, \u041f. \u042f. \u041c\u0438\u0445\u0430\u0439\u043b\u0438\u0448\u0438\u043d
\n\u041d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0430 \u0430\u043a\u0430\u0434\u0435\u043c\u0456\u044f \u0441\u0443\u0445\u043e\u043f\u0443\u0442\u043d\u0438\u0445 \u0432\u0456\u0439\u0441\u044c\u043a \u0456\u043c. \u041f\u0435\u0442\u0440\u0430 \u0421\u0430\u0433\u0430\u0439\u0434\u0430\u0447\u043d\u043e\u0433\u043e
\nV. Chyhin, P. Myhailyshyn
\nPeter Sagaidachny National Academy of Land Forces<\/p>\n

DOI:<\/strong> https:\/\/www.doi.org\/10.31891\/2307-5732-2020-285-3-28<\/a>
\n\u0420\u0435\u0446\u0435\u043d\u0437\u0456\u044f\/Peer review :<\/strong> 17.04.2020\u00a0 \u0440.
\n\u041d\u0430\u0434\u0440\u0443\u043a\u043e\u0432\u0430\u043d\u0430\/Printed :<\/strong> 01.06.2020 \u0440.<\/p>\n

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\n\u041a\u043b\u044e\u0447\u043e\u0432\u0456 \u0441\u043b\u043e\u0432\u0430:<\/strong> \u0441\u0438\u0441\u0442\u0435\u043c\u0430 \u043a\u0435\u0440\u0443\u0432\u0430\u043d\u043d\u044f, \u0431\u0435\u0437\u043f\u0456\u043b\u043e\u0442\u043d\u0438\u0439 \u043b\u0456\u0442\u0430\u043b\u044c\u043d\u0438\u0439 \u0430\u043f\u0430\u0440\u0430\u0442, \u0433\u0435\u043a\u0441\u0430\u043a\u043e\u043f\u0442\u0435\u0440, \u0430\u0432\u0442\u043e\u043f\u0456\u043b\u043e\u0442, \u0431\u043e\u0440\u0442\u043e\u0432\u0438\u0439 \u043a\u043e\u043c\u043f\u2019\u044e\u0442\u0435\u0440, \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440 \u043c\u043e\u0442\u043e\u0440\u0456\u0432, \u043a\u043e\u043c\u043f\u0430\u0441, \u0430\u043a\u0441\u0435\u043b\u0435\u0440\u043e\u043c\u0435\u0442\u0440, \u0432\u0456\u0434\u0435\u043e\u043a\u0430\u043c\u0435\u0440\u0430, \u0431\u0430\u0440\u043e\u043c\u0435\u0442\u0440.<\/p>\n

\u0420\u043e\u0437\u0448\u0438\u0440\u0435\u043d\u0430 \u0430\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u0430\u043d\u0433\u043b\u0456\u0439\u0441\u044c\u043a\u043e\u044e \u043c\u043e\u0432\u043e\u044e<\/strong><\/p>\n

In a number of papers of one of authors, the possibility of creating a comprehensive system for the neutralization of another unmanned aircraft is considered. At the first stage of UAV detection, sound devices are used. Then its coordinates, direction and speed are measuring with the help of a stationary video system. Then the flight of own UAV takes place to the extrapolated coordinates of the stranger one. When capturing a UAV, it is chased by a special program installed on the onboard computer. In the end, the another unmanned aircraft will be neutralizated in a cheaper way, for example, using a grid thrower. Authors did not find in the available literature information about study of such method.
\nTherefore, in this work the experimental research of the unmanned aerial vehicle control system at photocapturing and destroying of the object was carried out. For this the hexacopter on the Tarrot 680 frame using autopilot PixHawk PX4 was made. PixHawk has an open code, making it possible to connect an additional board computer Raspberry Pi 3 with own control programs. The programs were written in Python in the Linex operating system. Standard libraries such as Dronekit, Mavproxy, and OpenCV were used. Standard autopilot settings have been changed for optimal interaction with the onboard computer. When software control is used, sensor data were converted to corresponding commands for the flight controller due to the Mavlink protocol. Various scenarios of the flight were made and tested.
\nInfluences of the hexacopter elements (motors’ regulators, video cameras, as well as sensors – compass, accelerometer, GPS receiver and barometer) on the reliability of the system were studied. Correction of hexacopter flight was carried out in manual and semi-automatic modes using the Mission Planer program. The program control system was tested at distances up to 100 meters and at heights up to 4 m. This provided a reliable signal between the WiFi router of the ground station and the onboard computer adapter. The speed of copper flights was not greater than 5 m\/s. The results of the testing of the control system testify to the positive performance of its work at photocapturing and destroying of the object.
\nKeywords:<\/strong> control system, unmanned aerial vehicle, hexacopter, autopilot, trip computer, motor controllers, compass, accelerometer, video camera, barometer<\/p>\n

References<\/strong><\/p>\n

    \n
  1. Fedyshyn Nazar, Chyhin Vasyl. Investigation of the system of measuring the coordinates of an object using a photo system, digital theodolite and gps-receiver. International conf. Young Scientists and Postgraduates “IEF-2017”. Institute of Electronic Physics of the National Academy of Sciences of Ukraine, Uzhhorod, May 23-26. 2017. P.10-12.<\/li>\n
  2. Chyhin V.I., Fedyshyn N.G. Research and modification of the system and algorithm for detecting and tracking moving objects in a video stream. Collection of Abstracts of International reports. Sci.-Tech. conf. “Prospects for the Development of Arms and Military Equipment of the Land Forces”. – Lviv: NALF, 2017. p.118<\/li>\n
  3. Chyhin V.I., Sviderok S.M., Shabatura Yu.V., Tarasenko A.Yu. Experimental studies of the effectiveness of protective devices against unmanned aerial vehicles. Collection of Abstracts of International reports. Sci.-Tech. conf. “Prospects for the Development of Arms and Military Equipment of the Land Forces”. – Lviv: NALF, 2017. p.117<\/li>\n
  4. Yu.P. Salnik, I.V. Matala, V.A. Onishchenko. Tactical Unmanned Aerial Systems: Opportunities and Limitations in Use. Science and Technology of the Air Forces of the Armed Forces of Ukraine, 2015, No. 1 (18). Pp. 23-28.<\/li>\n
  5. Myasishchev O.A. Flight controlling flight modes APT 2.6 and Pixhawk UAV \/ O.A. Mjasishchev, V.V. Shvov \/\/ Herald of Khmelnytskyi National University. Technical sciences. – 2018 – No. 1 (257). – P. 78-82.<\/li>\n
  6. ArduPilot. URL: http:\/\/ardupilot.org\/ardupilot\/<\/li>\n
  7. RC School models. URL: https:\/\/plus.google.com\/u\/0\/ +RCSchoolmodels<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"

    \u0415\u041a\u0421\u041f\u0415\u0420\u0418\u041c\u0415\u041d\u0422\u0410\u041b\u042c\u041d\u0406 \u0414\u041e\u0421\u041b\u0406\u0414\u0416\u0415\u041d\u041d\u042f \u0411\u0415\u0417\u041f\u0406\u041b\u041e\u0422\u041d\u041e\u0413\u041e \u0410\u0412\u0406\u0410\u0426\u0406\u0419\u041d\u041e\u0413\u041e \u041a\u041e\u041c\u041f\u041b\u0415\u041a\u0421\u0423 \u041f\u0420\u0418 \u0424\u041e\u0422\u041e\u0417\u0410\u0425\u041e\u041f\u041b\u0415\u041d\u041d\u0406 EXPERIMENTAL RESEARCH OF UNMANNED AERIAL VEHICLE CONTROL SYSTEM AT PHOTOCAPTURING \u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 186-190. \u041d\u043e\u043c\u0435\u0440: \u21163, 2020 (285) \u0410\u0432\u0442\u043e\u0440\u0438: \u0412. \u0406. \u0427\u0438\u0433\u0456\u043d\u044c, \u041f. \u042f. \u041c\u0438\u0445\u0430\u0439\u043b\u0438\u0448\u0438\u043d \u041d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0430 \u0430\u043a\u0430\u0434\u0435\u043c\u0456\u044f \u0441\u0443\u0445\u043e\u043f\u0443\u0442\u043d\u0438\u0445 \u0432\u0456\u0439\u0441\u044c\u043a \u0456\u043c. \u041f\u0435\u0442\u0440\u0430 \u0421\u0430\u0433\u0430\u0439\u0434\u0430\u0447\u043d\u043e\u0433\u043e V. Chyhin, P. Myhailyshyn Peter Sagaidachny National Academy of Land Forces DOI: https:\/\/www.doi.org\/10.31891\/2307-5732-2020-285-3-28 \u0420\u0435\u0446\u0435\u043d\u0437\u0456\u044f\/Peer review : 17.04.2020\u00a0 \u0440. […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[16],"tags":[],"_links":{"self":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1355"}],"collection":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1355"}],"version-history":[{"count":4,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1355\/revisions"}],"predecessor-version":[{"id":4180,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1355\/revisions\/4180"}],"wp:attachment":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1355"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1355"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1355"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}