{"id":2273,"date":"2021-01-18T19:44:09","date_gmt":"2021-01-18T17:44:09","guid":{"rendered":"http:\/\/journals.khnu.km.ua\/vestnik\/?p=2273"},"modified":"2021-02-16T13:43:36","modified_gmt":"2021-02-16T11:43:36","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%d0%b0-%d1%81%d0%b8%d1%81%d1%82%d0%b5%d0%bc%d0%b0-%d1%96-%d0%bf%d1%80%d0%be%d0%b3%d1%80%d0%b0%d0%bc%d0%bd","status":"publish","type":"post","link":"https:\/\/journals.khnu.km.ua\/vestnik\/?p=2273","title":{"rendered":"\u0415\u043a\u0441\u043f\u0435\u0440\u0438\u043c\u0435\u043d\u0442\u0430\u043b\u044c\u043d\u0430 \u0441\u0438\u0441\u0442\u0435\u043c\u0430 \u0456 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043d\u0435 \u0437\u0430\u0431\u0435\u0437\u043f\u0435\u0447\u0435\u043d\u043d\u044f \u0434\u043b\u044f \u0434\u043e\u0441\u043b\u0456\u0434\u0436\u0435\u043d\u043d\u044f \u0444\u043e\u0442\u043e\u043f\u0435\u0440\u0435\u0441\u043b\u0456\u0434\u0443\u0432\u0430\u043d\u043d\u044f \u0440\u0443\u0445\u043e\u043c\u0438\u0445 \u043e\u0431\u2019\u0454\u043a\u0442\u0456\u0432 \u0431\u0435\u0437\u043f\u0456\u043b\u043e\u0442\u043d\u0438\u043c \u043b\u0456\u0442\u0430\u043b\u044c\u043d\u0438\u043c \u0430\u043f\u0430\u0440\u0430\u0442\u043e\u043c"},"content":{"rendered":"

<\/p>\n

\u0415\u041a\u0421\u041f\u0415\u0420\u0418\u041c\u0415\u041d\u0422\u0410\u041b\u042c\u041d\u0410 \u0421\u0418\u0421\u0422\u0415\u041c\u0410 \u0406 \u041f\u0420\u041e\u0413\u0420\u0410\u041c\u041d\u0415 \u0417\u0410\u0411\u0415\u0417\u041f\u0415\u0427\u0415\u041d\u041d\u042f\u00a0\u0414\u041b\u042f \u0414\u041e\u0421\u041b\u0406\u0414\u0416\u0415\u041d\u041d\u042f \u0424\u041e\u0422\u041e\u041f\u0415\u0420\u0415\u0421\u041b\u0406\u0414\u0423\u0412\u0410\u041d\u041d\u042f \u0420\u0423\u0425\u041e\u041c\u0418\u0425 \u041e\u0411\u2019\u0404\u041a\u0422\u0406\u0412 \u0411\u0415\u0417\u041f\u0406\u041b\u041e\u0422\u041d\u0418\u041c \u041b\u0406\u0422\u0410\u041b\u042c\u041d\u0418\u041c \u0410\u041f\u0410\u0420\u0410\u0422\u041e\u041c<\/p>\n

EXPERIMENTAL SYSTEM AND SOFTWARE FOR INVESTIGATION\u00a0OF PHOTO-PURSUIT OF MOVING OBJECTS BY UNMANNED AERIAL VEHICLE<\/p>\n

 
\n<\/a>
\n\u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 84-88. \u041d\u043e\u043c\u0435\u0440: \u21164, 2020 (287)<\/strong><\/p>\n

\u0410\u0432\u0442\u043e\u0440\u0438:<\/strong>
\n\u0412.\u0427\u0418\u0413\u0406\u041d\u042c, \u041c. \u0427\u0415\u0420\u041d\u0415\u041d\u041a\u041e
\n\u041d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0430 \u0410\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<\/p>\n

VASYL CHYHIN, MYKOLA CHERNENKO
\nHetman Petro Sahaidachnyi National Army Academy<\/p>\n

 
\nDOI:<\/strong> https:\/\/www.doi.org\/10.31891\/2307-5732-2020-287-4-84-88<\/a>
\n <\/p>\n

\u0420\u0435\u0446\u0435\u043d\u0437\u0456\u044f\/Peer review : <\/strong>14.10.2020 \u0440.
\n\u041d\u0430\u0434\u0440\u0443\u043a\u043e\u0432\u0430\u043d\u0430\/Printed : <\/strong>06.11.2020 \u0440.<\/p>\n

 <\/p>\n

\u0410\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u043c\u043e\u0432\u043e\u044e \u043e\u0440\u0438\u0433\u0456\u043d\u0430\u043b\u0443<\/strong><\/p>\n

\u00a0 \u00a0 \u0421\u0442\u0432\u043e\u0440\u0438\u043b\u0438 \u0435\u043a\u0441\u043f\u0435\u0440\u0438\u043c\u0435\u043d\u0442\u0430\u043b\u044c\u043d\u0443 \u0441\u0438\u0441\u0442\u0435\u043c\u0443 \u0456 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043d\u0435 \u0437\u0430\u0431\u0435\u0437\u043f\u0435\u0447\u0435\u043d\u043d\u044f \u0434\u043b\u044f \u0433\u0435\u043d\u0435\u0440\u0443\u0432\u0430\u043d\u043d\u044f \u0456 \u0434\u043e\u0441\u043b\u0456\u0434\u0436\u0435\u043d\u043d\u044f \u043a\u043e\u043c\u0430\u043d\u0434 \u043d\u0430 \u0434\u0432\u0438\u0433\u0443\u043d\u0438 \u0431\u0435\u0437\u043f\u0456\u043b\u043e\u0442\u043d\u043e\u0433\u043e \u043b\u0456\u0442\u0430\u043b\u044c\u043d\u043e\u0433\u043e \u0430\u043f\u0430\u0440\u0430\u0442\u0430 (\u0411\u041f\u041b\u0410) \u0442\u0430 \u0439\u043e\u0433\u043e \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u043d\u043e\u0433\u043e \u043f\u043e\u0432\u0435\u0440\u0442\u0430\u043d\u043d\u044f \u043f\u0440\u0438 \u0444\u043e\u0442\u043e\u043f\u0435\u0440\u0435\u0441\u043b\u0456\u0434\u0443\u0432\u0430\u043d\u043d\u0456 \u0440\u0443\u0445\u043e\u043c\u043e\u0433\u043e \u043e\u0431\u2019\u0454\u043a\u0442\u0430 \u0437 \u043c\u0435\u0442\u043e\u044e \u043e\u043f\u0442\u0438\u043c\u0456\u0437\u0430\u0446\u0456\u0457 \u043f\u0440\u043e\u0446\u0435\u0441\u0456\u0432 \u043a\u0435\u0440\u0443\u0432\u0430\u043d\u043d\u044f. \u0412\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u0430\u043b\u0438 \u043a\u0432\u0430\u0434\u0440\u043e\u043a\u043e\u043f\u0442\u0435\u0440 \u0437 \u0440\u0430\u043c\u043e\u044e Q450, \u0434\u0432\u0438\u0433\u0443\u043d\u0430\u043c\u0438 D2212-920kv \u0456 \u043f\u0440\u043e\u043f\u0435\u043b\u0435\u0440\u0430\u043c\u0438 \u0437 \u0440\u043e\u0437\u043c\u0456\u0440\u0430\u043c\u0438 10×1,5 \u0441\u043c. \u0412\u0441\u0442\u0430\u043d\u043e\u0432\u0438\u043b\u0438 \u0430\u0432\u0442\u043e\u043f\u0456\u043b\u043e\u0442 Pixhawk PX-4 \u0437 \u0432\u0456\u0434\u043a\u0440\u0438\u0442\u0438\u043c \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043d\u0438\u043c \u043a\u043e\u0434\u043e\u043c \u0456 \u0431\u043e\u0440\u0442\u043e\u0432\u0438\u0439 \u043a\u043e\u043c\u043f\u2019\u044e\u0442\u0435\u0440 Raspberry-3 \u0437 \u0432\u0456\u0434\u0435\u043e\u043a\u0430\u043c\u0435\u0440\u043e\u044e Pi V2 \u0437 \u0440\u043e\u0437\u0434\u0456\u043b\u0435\u043d\u043d\u044f\u043c 1080\u00d7720 \u043f\u0456\u043a\u0441\u0435\u043b\u0456\u0432. \u041a\u0432\u0430\u0434\u0440\u043e\u043a\u043e\u043f\u0442\u0435\u0440 \u043f\u0456\u0434\u0432\u0456\u0441\u0438\u043b\u0438 \u0442\u0430\u043a, \u0449\u043e \u043f\u0440\u043e\u043f\u0435\u043b\u0435\u0440\u0438 \u0437\u043d\u0430\u0445\u043e\u0434\u0438\u043b\u0438\u0441\u044f \u0443 \u0433\u043e\u0440\u0438\u0437\u043e\u043d\u0442\u0430\u043b\u044c\u043d\u0456\u0439 \u043f\u043b\u043e\u0449\u0438\u043d\u0456. \u0415\u043a\u0441\u043f\u0435\u0440\u0438\u043c\u0435\u043d\u0442\u0430\u043b\u044c\u043d\u0430 \u0443\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0430 \u0432\u043a\u043b\u044e\u0447\u0430\u0454 \u0434\u0432\u043e\u043a\u0430\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u043e\u0441\u0446\u0438\u043b\u043e\u0433\u0440\u0430\u0444 \u0442\u0438\u043f\u0443 ISDS205A \u0434\u043b\u044f \u0432\u0438\u043c\u0456\u0440\u044e\u0432\u0430\u043d\u043d\u044f \u0448\u0438\u0440\u0438\u043d\u0438 \u0456\u043c\u043f\u0443\u043b\u044c\u0441\u0456\u0432 \u043a\u0435\u0440\u0443\u0432\u0430\u043d\u043d\u044f \u043c\u043e\u0442\u043e\u0440\u0430\u043c\u0438 \u0456 \u0442\u0430\u0445\u043e\u043c\u0435\u0442\u0440 \u0442\u0438\u043f\u0443 UT-372 \u0434\u043b\u044f \u0432\u0438\u043c\u0456\u0440\u044e\u0432\u0430\u043d\u043d\u044f \u0448\u0432\u0438\u0434\u043a\u043e\u0441\u0442\u0456 \u043e\u0431\u0435\u0440\u0442\u0430\u043d\u043d\u044f \u043c\u043e\u0442\u043e\u0440\u0456\u0432. \u0421\u043a\u043b\u0430\u043b\u0438 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u0443, \u044f\u043a\u0430 \u043e\u0431\u0447\u0438\u0441\u043b\u044e\u0454 \u043a\u043e\u043e\u0440\u0434\u0438\u043d\u0430\u0442\u0438 \u0446\u0435\u043d\u0442\u0440\u0430 \u0437\u043e\u0431\u0440\u0430\u0436\u0435\u043d\u043d\u044f \u0425 \u043e\u0431\u2019\u0454\u043a\u0442\u0430 \u0432 \u043f\u0456\u043a\u0441\u0435\u043b\u044f\u0445 \u0456 \u0432\u0456\u0434\u043f\u043e\u0432\u0456\u0434\u043d\u0456 \u0442\u0440\u0438\u0432\u0430\u043b\u043e\u0441\u0442\u0456 \u0456\u043c\u043f\u0443\u043b\u044c\u0441\u0456\u0432 \u0434\u043b\u044f \u043a\u0435\u0440\u0443\u0432\u0430\u043d\u043d\u044f \u043e\u0431\u0435\u0440\u0442\u0430\u043d\u043d\u044f\u043c \u043c\u043e\u0442\u043e\u0440\u0430\u043c\u0438 \u043a\u0432\u0430\u0434\u0440\u043e\u043a\u043e\u043f\u0442\u0435\u0440\u0430 \u0437\u0430 \u0434\u043e\u043f\u043e\u043c\u043e\u0433\u043e\u044e \u0447\u0435\u0442\u0432\u0435\u0440\u0442\u043e\u0433\u043e \u043a\u0430\u043d\u0430\u043b\u0443 \u043f\u0440\u0438\u0439\u043c\u0430\u0447\u0430 \u0430\u0432\u0442\u043e\u043f\u0456\u043b\u043e\u0442\u0430. \u0421\u0438\u0441\u0442\u0435\u043c\u0430 \u043f\u043e\u043b\u044c\u043e\u0442\u0443 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u0454 \u0431\u0456\u0431\u043b\u0456\u043e\u0442\u0435\u043a\u0438 Dronekit, datetime, errno, platform, \u0430 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u0430 \u043f\u0435\u0440\u0435\u0442\u0432\u043e\u0440\u0435\u043d\u043d\u044f \u0432\u0456\u0434\u0435\u043e\u0440\u044f\u0434\u0443 \u0437\u043e\u0431\u0440\u0430\u0436\u0435\u043d\u044c – \u0431\u0456\u0431\u043b\u0456\u043e\u0442\u0435\u043a\u0438 sys, OpenCV, Picamera.
\n\u041a\u043b\u044e\u0447\u043e\u0432\u0456 \u0441\u043b\u043e\u0432\u0430: <\/strong>\u0435\u043a\u0441\u043f\u0435\u0440\u0438\u043c\u0435\u043d\u0442\u0430\u043b\u044c\u043d\u0430 \u0443\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0430, \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043d\u0435 \u0437\u0430\u0431\u0435\u0437\u043f\u0435\u0447\u0435\u043d\u043d\u044f, \u0444\u043e\u0442\u043e\u043f\u0435\u0440\u0435\u0441\u043b\u0456\u0434\u0443\u0432\u0430\u043d\u043d\u044f, \u0434\u0432\u043e\u043c\u0456\u0440\u043d\u0435 \u043e\u0431\u0435\u0440\u0442\u0430\u043d\u043d\u044f, \u043a\u0432\u0430\u0434\u0440\u043e\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.<\/p>\n

 <\/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

An experimental system and software have been developed to generate and study commands on the engines of unmanned aerial vehicle (UAV) and its automatic rotation during photo-pursuit of a moving object in order to optimize control processes. There were used the quadcopter with a Q450 frame, D2212-920kv engines and 10×45 propellers. An open source Pixhawk PX-4 autopilot and a Raspberry-3 on-board computer with a Pi V2 camera with a resolution of 1,080 \u00d7 720 pixels have been installed. The quadcopter was suspended so that the propellers were in a horizontal plane. The experimental setup includes a two-channel oscilloscope type ISDS205A for measuring the width of the motors control pulses and a tachometer type UT-372 for measuring the speed of rotation of the motors. We have compiled a program that calculates the coordinates of the center of the image X of the object in pixels and the corresponding pulse durations to control the rotation of the quadcopter motors using the fourth channel of the autopilot receiver. The flight system uses the libraries Dronekit, datetime, errno, platform, and the video conversion program uses the libraries sys, OpenCV, Picamera.
\nKeywords:<\/strong> experimental setup, software, photo-pursuit, two-dimensional rotation, quadcopter, autopilot, on-board computer.<\/p>\n

 <\/p>\n

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

    \n
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  12. Nastolnye-kompyutery Lattepanda [Elektronnyi resurs]. \u2013 Rezhym dostupu : https:\/\/hotline.uacomputer-nastolnye-kompyuterylattepanda-lattepanda-2g32gb<\/li>\n
  13. ArduPilot [Elektronnyi resurs]. \u2013 Rezhym dostupu : http:\/\/ardupilot.org\/ardupilot\/<\/li>\n
  14. QgroundControl [Elektronnyi resurs]. \u2013 Rezhym dostupu : http:\/\/qgroundcontrol.com\/<\/li>\n
  15. Avtomatychne vidstezhennia obiekta na Python [Elektronnyi resurs]. \u2013 Rezhym dostupu : https:\/\/robotos.in\/uroki\/avtomaticheskoe-otslezhivanie-ob-ekta-na-python.<\/li>\n
  16. Ballon Finder [Elektronnyi resurs]. \u2013 Rezhym dostupu : https:\/\/www.youtube.com\/watch?v=yRmXwRqPesY&feature=youtu.be.<\/li>\n
  17. Rezhym active track 2.0 na dji mavic 2 pro [Elektronnyi resurs]. \u2013 Rezhym dostupu : https:\/\/www.youtube.com\/watch?v=qEmd5g2fMcE&feature=youtu.be<\/li>\n
  18. Eksperymentalna systema DJI [Elektronnyi resurs]. \u2013 Rezhym dostupu : https:\/\/vido.com.ua\/article\/12354\/ekspierimientalnaia-sistiema-dji-pomoghaiet-priedotvrashchat-stolknovieniia-dronov-zalogh-biezopasnogho-vozdushnogho-dvizhieniia\/<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[23],"tags":[],"_links":{"self":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/2273"}],"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=2273"}],"version-history":[{"count":3,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/2273\/revisions"}],"predecessor-version":[{"id":3762,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/2273\/revisions\/3762"}],"wp:attachment":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2273"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2273"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2273"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}