title: ÐÐ½Ð°Ð»Ð¸Ð·, Ð¾Ð±ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¸ Ð¸Ð½ÑÐµÑÐ¿ÑÐµÑÐ°ÑÐ¸Ñ Ð´Ð°Ð½Ð½ÑÑ Ñ Ð»Ð¾ÐºÐ°Ð»ÑÐ½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÑÐ°ÑÐ¸ÑÑÐ¸ÑÐµÑÐºÐ¸Ð¼Ð¸ Ð¼ÐµÑÐ¾Ð´Ð°Ð¼Ð¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Analysis, processing and interpretation of data from the local navigation system using statistical methods
Creators: name: ÐÐ³Ð¾ÑÐ¾Ð´Ð½Ð¸ÐºÐ¾Ð², ÐÑÑÑÐ¼
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: 2024
Subjects: ÑÐ¸Ð»ÑÑÑ ÐÐ°Ð»Ð¼Ð°Ð½Ð°
Ð¿ÐµÐ»ÐµÐ½Ð³Ð°ÑÐ¸Ñ
ÐÐÐÐ
Ð¾Ð±ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸Ð³Ð½Ð°Ð»Ð¾Ð²
Kalman filter
direction finding
UAV
signal processing

description: Ð Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ Ð¿ÑÐ¾Ð´ÐµÐ¼Ð¾Ð½ÑÑÑÐ¸ÑÐ¾Ð²Ð°Ð½ Ð¿Ð¾Ð´ÑÐ¾Ð´, Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ ÐºÐ¾ÑÐ¾ÑÐ¾Ð³Ð¾ Ð¼Ð¾Ð¶Ð½Ð¾ ÑÐµÂ­ ÑÐ°ÑÑ Ð·Ð°Ð´Ð°ÑÐ¸ Ð¾Ð±ÑÐ°Ð±Ð¾ÑÐºÐ¸ ÑÐ¸Ð³Ð½Ð°Ð»Ð¾Ð², ÑÐ²ÑÐ·Ð°Ð½Ð½ÑÑ Ñ Ð¿ÐµÐ»ÐµÐ½Ð³Ð°ÑÐ¸ÐµÐ¹ Ð½Ð°Ð±Ð»ÑÐ´Ð°ÐµÐ¼Ð¾Ð³Ð¾ Ð¾Ð±ÑÐµÐºÑÐ°. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½ Ð¾Ð´Ð¸Ð½ Ð¸Ð· Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð³ÐµÐ½ÐµÑÐ°ÑÐ¸Ð¸ Ð´Ð°Ð½Ð½ÑÑ Ñ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð½ÑÐ¼Ð¸ Ð¾Ð³ÑÐ°Ð½Ð¸ÑÐµÐ½Ð¸ÑÐ¼Ð¸. ÐÐ¿Ð¸ÑÐ°Ð½Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¸ Ð½Ð°Ð±Ð»ÑÐ´ÐµÐ½Ð¸Ð¹, Ð¿ÑÐ¸Ð¼ÐµÐ½ÑÐµÐ¼ÑÐµ Ð¿ÑÐ¸ ÑÐ¸Ð»ÑÑÑÐ°ÑÐ¸Ð¸ Ð´Ð°Ð½Ð½ÑÑ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½ Ð°Ð½Ð°Ð»Ð¸Ð· ÑÐ¸Ð»ÑÑÑÐ° ÐÐ°Ð»Ð¼Ð°Ð½Ð° Ð¿ÑÐ¸ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð²ÑÐ¾Ð´Â­ Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ - ÑÐ¸Ð»ÑÑÑ ÑÐ°Ð±Ð¾ÑÐ°ÐµÑ ÐºÐ¾ÑÑÐµÐºÑÐ½Ð¾. ÐÑÐµÐ½ÐµÐ½Ð¾ ÐºÐ°ÑÐµÑÑÐ²Ð¾ ÑÐ¸Ð»ÑÑÑÐ° ÐÐ°Ð»Ð¼Ð°Ð½Ð° Ð´Ð»Ñ Ð·Ð°Ð´Ð°ÑÐ¸ ÑÐ¸Ð»ÑÑÑÐ°ÑÐ¸Ð¸ Ð¿ÐµÐ»ÐµÐ½Ð³Ð° ÐÐÐÐ Ð¿ÑÐ¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ð¸ Ð½ÐµÑÐºÐ¾Ð»ÑÐºÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»ÐµÐ¹ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ - Ð¿ÑÐ¸Ð²ÐµÐ´ÑÐ½Ð½ÑÐµ Ðº Ð»Ð¸Ð½ÐµÐ¹Ð½ÑÐ¼ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÑÑÑÑÑ Ñ ÑÐ¸Ð»ÑÑÑÐ°ÑÐ¸ÐµÐ¹ Ð»ÑÑÑÐµ, ÑÐµÐ¼ Ð¸ÑÑÐ¾Ð´Ð½ÑÐµ Ð½ÐµÐ»Ð¸Ð½ÐµÐ¹Ð½ÑÐµ. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ Ð´Ð¾Ð¿Ð¾Ð»Ð½Ð¸ÑÐµÐ»ÑÐ½ÑÐµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð½Ð° Ð¿ÑÐµÐ´Ð¼ÐµÑ Ð¸Ð·Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ ÐºÐ°ÑÐµÑÑÐ²Ð° ÑÐ¸Ð»ÑÑÑÐ°ÑÐ¸Ð¸ - ÑÐ²ÐµÐ»Ð¸ÑÐµÐ½Ð¸Ðµ ÑÐ¸ÑÐ»Ð° Ð¿ÐµÐ»ÐµÐ½Ð³Ð°ÑÐ¾ÑÐ¾Ð², Ð²Ð°ÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¾ÑÐ¸Ð±ÐºÐ¸ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ð¹ Ð¸ Ð¸Ð½ÑÐµÑÐ²Ð°Ð»Ð° Ð¼ÐµÐ¶Ð´Ñ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð¸ÐµÐ¼ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ð¹, Ð´Ð¾Ð±Ð°Ð²Ð»ÐµÐ½Ð¸Ðµ Ð² Ð¼Ð¾Ð´ÐµÐ»Ñ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ð¹ Ð¿Ð¾ÐºÐ°Ð·Ð°Ð½Ð¸Ð¹ Ñ ÐºÐ¾Ð¼Ð¿Ð°ÑÐ° ÐÐÐÐ. ÐÑÐ¸ ÑÐ²ÐµÐ»Ð¸ÑÐµÐ½Ð¸Ð¸ ÑÐ¸ÑÐ»Ð° Ð¿ÐµÐ»ÐµÐ½Ð³Ð°ÑÐ¾ÑÐ¾Ð², Ð¿ÑÐ¸ ÑÐ¼ÐµÐ½ÑÑÐµÐ½Ð¸Ð¸ Ð²ÑÐµÐ¼ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¸Ð½ÑÐµÑÐ²Ð°Ð»Ð° Ð¼ÐµÐ¶Ð´Ñ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð¸ÐµÐ¼ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ð¹ Ð¸ Ð¿ÑÐ¸ ÑÐ¼ÐµÐ½ÑÑÐµÂ­ Ð½Ð¸Ð¸ Ð¾ÑÐ¸Ð±ÐºÐ¸ Ð¿ÐµÐ»ÐµÐ½Ð³Ð°ÑÐ¾ÑÐ¾Ð² Ð½Ð°Ð±Ð»ÑÐ´Ð°ÐµÑÑÑ ÑÐ¾ÑÑ ÐºÐ°ÑÐµÑÑÐ²Ð° ÑÐ¸Ð»ÑÑÑÐ°ÑÐ¸Ð¸. ÐÐ½Ð°ÑÐ¸ÑÐµÐ»ÑÐ½ÑÐµ ÑÐ»ÑÑÑÐµÐ½Ð¸Ñ ÐºÐ°ÑÐµÑÑÐ²Ð° ÑÐ¸Ð»ÑÑÑÐ°ÑÐ¸Ð¸ Ð°Ð·Ð¸Ð¼ÑÑÐ° Ð½Ð°Ð±Ð»ÑÐ´Ð°ÑÑÑÑ Ð¿ÑÐ¸ Ð´Ð¾Ð±Ð°Ð²Ð»ÐµÐ½Ð¸Ð¸ Ð¿Ð¾ÐºÐ°Ð·Ð°Ð½Ð¸Ð¹ ÐºÐ¾Ð¼Ð¿Ð°ÑÐ° ÐÐÐÐ Ð² Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ.
description: This paper demonstrates an approach that can be used to solve signal processing problems related to the direction finding of an observed object. One of the methods of generating data with certain limitations has been developed. Motion and observation models used in filtering dynamic system data are described. The Kalman filter is analyzed for various input data - the filter works correctly. The quality of the Kalman filter for the task of filtering the UAV bearing when using several motion models is evaluated - the models reduced to linear ones cope with filtering better than the original nonlinear ones. Additional studies have been conducted to change the quality of filtration - increasing the number of direction finders, varying the measurement error and the interval between receiving measurements, adding readings from the UAV compass to the measurement model. With an increase in the number of direction finders, with a decrease in the time interval between obtaining measurements and with a decrease in the error of direction finders, an increase in filtration quality is observed. Significant improvements in azimuth filtering quality are observed when adding the UAV compass readings to the measurements.