title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ Ð²Ð¾Ð·Ð´ÑÑÐ½Ð¾Ð³Ð¾ ÑÐ²ÐµÑÑ ÑÐ¸ÑÐ¾ÐºÐ¾Ð¿Ð¾Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ ÑÐ°Ð´Ð¸Ð¾Ð»Ð¾ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð³Ð¾ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐ°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Development of a mobile aerial ultra-wideband radar system
Creators: name: ÐÐ¾Ð»Ð¾ÑÐºÐ¾Ð², ÐÐ¸ÑÐ°Ð¸Ð»
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: Ð¡Ð²ÐµÑÑ ÑÐ¸ÑÐ¾ÐºÐ¾Ð¿Ð¾Ð»Ð¾ÑÐ½ÑÐµ ÑÐ¸Ð³Ð½Ð°Ð»Ñ
Ð¡Ð¨Ð
ÑÐ°Ð´Ð¸Ð¾Ð»Ð¾ÐºÐ°ÑÐ¸Ñ
Robot operating system
Ð²Ð¾Ð·Ð´ÑÑÐ½ÑÐ¹ Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½ÑÐ¹ Ð»Ð¾ÐºÐ°ÑÐ¾Ñ
Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ ÑÑÑÑ Ð¼ÐµÑÐ½Ð¾Ð¹ ÐºÐ°ÑÑÑ
Ð´Ð¸Ð¾Ð´ Ñ Ð½Ð°ÐºÐ¾Ð¿Ð»ÐµÐ½Ð¸ÐµÐ¼ Ð·Ð°ÑÑÐ´Ð°
SRD Ð´Ð¸Ð¾Ð´
Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ROS
Ultra-wideband signals
UWB
radio navigation
air mo-bile locator
three-dimensional map construction
charge-accumulating diode
SRD diode
ROS simulation

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð² Ð¾Ð±Ð»Ð°ÑÑÐ¸ ÑÐ°Ð´Ð¸Ð¾ÑÐµÑÐ½Ð¸ÐºÐ¸ Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ²ÐµÑÑÑÐ¸ÑÐ¾ÐºÐ¾Ð¿Ð¾Ð»Ð¾ÑÐ½ÑÐ¼ ÑÐ¸Ð³Ð½Ð°Ð»Ð°Ð¼. Ð¦ÐµÐ»ÑÑ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¼Ð¾Ð±Ð¸Ð»ÑÐ½Ð¾Ð³Ð¾ Ð¡Ð¨Ð-Ð»Ð¾ÐºÐ°ÑÐ¾ÑÐ° Ñ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÑÑ ÑÑÑÐ°Ð½Ð¾Ð²ÐºÐ¸ Ð½Ð° Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÑ Ð»ÐµÑÐ°ÑÐµÐ»ÑÐ½ÑÑ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ, Ð² Ð¾Ð±ÑÐµÐ¼ ÑÐ»ÑÑÐ°Ðµ â Ð¼ÑÐ»ÑÑÐ¸ÐºÐ¾Ð¿ÑÐµÑ. ÐÑÐ»Ð¸ÑÐ¸ÑÐµÐ»ÑÐ½Ð¾Ð¹ Ð¾ÑÐ¾Ð±ÐµÐ½Ð½Ð¾ÑÑÑÑ ÑÐ²Ð»ÑÐµÑÑÑ Ð¼ÐµÑÐ¾Ð´ ÑÐ°ÑÐ¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¼Ð¾Ð´ÑÐ»ÐµÐ¹ Ð»Ð¾ÐºÐ°ÑÐ¾ÑÐ° Ð½Ð° Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¸ÐºÐµ: Ð¸Ð·Ð»ÑÑÐ°ÑÐµÐ»Ñ Ð·Ð°ÐºÑÐµÐ¿Ð»ÑÐµÑÑÑ Ð½ÐµÐ¿Ð¾ÑÑÐµÐ´ÑÑÐ²ÐµÐ½Ð½Ð¾ Ð½Ð° Ð²Ð¸Ð½ÑÐµ Ð¸ Ð¿Ð¾Ð»ÑÑÐ°ÐµÑ Ð¿Ð¸ÑÐ°Ð½Ð¸Ðµ Ð±ÐµÑÐ¿ÑÐ¾Ð²Ð¾Ð´Ð½ÑÐ¼ Ð¼ÐµÑÐ¾Ð´Ð¾Ð¼.
Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ñ Ð²Ð¾Ð¿ÑÐ¾ÑÑ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ Ð¡Ð¨Ð Ð² Ð¸Ð¼Ð¿ÑÐ»ÑÑÐ½Ð¾Ð¹ ÑÐ°Ð´Ð¸Ð¾Ð»Ð¾ÐºÐ°ÑÐ¸Ð¸, Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¸Ð¼ÐµÑÑÐµÐ¹ÑÑ Ð»Ð¸ÑÐµÑÐ°ÑÑÑÑ ÑÐ´ÐµÐ»Ð°Ð½ Ð²ÑÐ²Ð¾Ð´ Ð¾ Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ Ð¿Ð¾Ð´ÑÐ¾Ð´ÑÑÐµÐ¹ ÑÑÐµÐ¼Ðµ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ Ð»Ð¾ÐºÐ°ÑÐ¾ÑÐ° Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸ÐµÐ¼ Ð´Ð¸Ð¾Ð´Ð° Ñ Ð½Ð°ÐºÐ¾Ð¿Ð»ÐµÐ½Ð¸ÐµÐ¼ Ð·Ð°ÑÑÐ´Ð°. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð²ÑÐ±ÑÐ°Ð½Ð½Ð¾Ð¹ ÑÑÐµÐ¼Ñ Ð² Ð¿Ð°ÐºÐµÑÐµ MicroCap, ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð¿ÐµÑÐ°ÑÐ½Ð°Ñ Ð¿Ð»Ð°ÑÐ° Ð´Ð»Ñ ÑÑÑÐ°Ð½Ð¾Ð²ÐºÐ¸ Ð½Ð° ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑ. ÐÑÐ½Ð¾Ð²Ð½Ð¾Ð¹ ÑÐ»Ð¾Ð¶Ð½Ð¾-ÑÑÑÑ Ð¿ÑÐ¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð¿Ð»Ð°ÑÑ ÑÐ²Ð¸Ð»Ð¾ÑÑ Ð¾Ð³ÑÐ°Ð½Ð¸ÑÐµÐ½Ð¸Ðµ Ð² Ð³ÐµÐ¾Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ¸Ñ ÑÐ°Ð·Ð¼ÐµÑÐ°Ñ, Ð¿Ð¾ÑÐºÐ¾Ð»ÑÐºÑ Ð² ÑÑÐ»Ð¾Ð²Ð¸ÑÑ Ð²ÑÐ°ÑÐµÐ½Ð¸Ñ Ð¿Ð»Ð°ÑÑ Ð½Ð° Ð²Ð¸Ð½ÑÐµ Ð²Ð°Ð¶ÐµÐ½ ÐºÐ°Ð¶Ð´ÑÐ¹ Ð³ÑÐ°Ð¼Ð¼ Ð»Ð¸ÑÐ½ÐµÐ³Ð¾ Ð²ÐµÑÐ°. Ð¢Ð°ÐºÐ¶Ðµ Ð±ÑÐ»Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð°Ð»ÑÐ½Ð°Ñ ÑÑÐµÐ¼Ð° Ð¿ÑÐ¸ÑÐ¼Ð½Ð¸ÐºÐ° Ð´Ð»Ñ Ð¿Ð¾Ð½Ð¸Ð¼Ð°Ð½Ð¸Ñ Ð¾Ð±ÑÐ¸Ñ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ð¾Ð² ÑÐ°Ð±Ð¾ÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ. Ð Ð·Ð°Ð²ÐµÑÑÐµÐ½Ð¸Ðµ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÑÐµÐ¹Ð¼Ð²Ð¾ÑÐºÐ° ROS â Robot Operating System.
Ð ÑÐ¾Ð´Ðµ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ´Ð°Ð»Ð¾ÑÑ Ð´Ð¾ÑÑÐ¸ÑÑ Ð·Ð°ÑÐ²Ð»ÐµÐ½Ð½ÑÑ ÑÑÐµÐ±Ð¾Ð²Ð°Ð½Ð¸Ð¹, Ð·Ð°ÐºÐ»ÑÑÐ°Ñ-ÑÐ¸ÑÑÑ Ð² ÑÐ°Ð·Ð¼ÐµÑÐ°Ñ, Ð¼Ð¾ÑÐ½Ð¾ÑÑÐ¸ Ð¸ ÑÐ¾ÑÐ½Ð¾ÑÑÐ¸ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð°.
description: This work in the field of radio engineering is devoted to ultra-wide-band sig-nals. The purpose of this work is to develop a mobile UWB locator with the ability to be installed on an unmanned aerial platform, in General, a multicopter. A distinctive feature is the method of locating the locator modules on the UAV: the emitter is fixed directly on the screw and receives power by wireless method.
In the course of the work, the issues of using UWB in pulse radar were investigated. based on the available literature, a conclusion was made about the most suitable scheme for constructing a locator using a charge-accumulating diode. A simulation of the selected circuit in the MicroCap package was performed, and a printed circuit Board was developed for installation on a quadrocopter. The main difficulty in developing the Board was the restriction in geometric dimensions, because in the conditions of Board rotation on the screw, every gram of excess weight is important. A functional diagram of the receiver was also developed to understand the General principles of the system. At the end, computer modeling was performed using the ROS-Robot Operating System framework.
In the course of this work, it was possible to achieve the stated requirements in terms of size, power and accuracy of the device.