# Situational Awareness and Problems of Its Formation in the Tasks of UAV Behavior Control
## 2 UAV as a Controllable Dynamic System Operating under Uncertainty Conditions
### Kinds of Controllable Dynamic Systems
The definition (1) for the case of \(\mathbb{D}\mathbb{S}\) takes the following form:  
\[ \begin{split}\mathbb{D}\mathbb{S}=\langle X^{DS},\Phi^{DS},T^{ DS}\rangle,\\ X^{DS}\subseteq X,\,T^{DS}\subseteq T,\Phi^{DS}=\Phi^{DS}( \mathbf{x},t),\,\mathbf{x}\in X^{DS},\,t\in T^{DS}.\end{split}  \tag{3}\]As a rule, in many real-world problems, it is necessary to take into account various kinds of uncertainties. In particular, in a more realistic formulation, the above-mentioned problems of modeling the flight of an artillery shell or an unguided missile would be more correctly solved by taking into account the random influences of the air environment (atmospheric turbulence, wind gusts, etc.). The \(\mathbb{VS}\) (vague system) class systems, which in general terms can be defined as follows, corresponding to this case:  
\[\mathbb{VS}=\langle X^{VS},T^{VS},\Phi^{VS}\rangle, \tag{4}\] \[X^{VS}\subseteq X,T^{VS}\subseteq T,\,\Phi^{VS}=\Phi^{VS}(\mathbf{ x},\xi,t),\] \[\mathbf{x}\in X^{VS},\,\xi\in\Xi,\,t\in T^{VS}\subseteq T.\]  
In addition to the elements that were already in \(\mathbb{DS}\), the definition (4) also includes a set of uncertainty factors \(\xi\in\Xi\). These factors are uncontrollable external influences on the system \(\mathbb{VS}\). For these impacts, there is no complete a priori information about their nature. The components of the vector \(\xi\) may, in particular, be random or fuzzy values. The next three classes of systems, i.e., \(\mathbb{CS}\), \(\mathbb{AS}\), and \(\mathbb{IS}\), differ from \(\mathbb{DS}\) and \(\mathbb{VS}\) by active interaction with the environment \(\mathcal{E}\) because they are controlled. The presence of tools for controlling the system's behavior allows it to actively respond to the environment's influences. This response is carried out through the formation and implementation of actions on the system's controls, for example, the deflection of the aircraft's control surfaces. The nature of the interaction \(\mathbb{CS}\coloneqq\mathcal{E}\) depends on the properties of the system \(\mathbb{S}\) and on the properties of the environment \(\mathcal{E}\). In addition, this interaction also depends on the resources \(\mathbb{S}\) has at its disposal. These resources can be internal and external concerning the considered system. Examples of internal resources include a digital terrain map, inertial navigation, computer vision, sensors for various purposes, etc. Similarly, external resources can be GLONASS and GPS navigation systems, radio navigation facilities, remote control facilities, etc. The level of dependence of the system \(\mathbb{S}\) on external resources is an essential indicator of its technical perfection. Next, the problem of creating highly autonomous systems will be considered in the example of \"smart\" UAVs, as it generates the need to form situational awareness, analyzed in our article. As noted above, the active response to the influence of the environment \(\mathcal{E}\) is implemented by systems of classes \(\mathbb{CS}\), \(\mathbb{AS}\), and \(\mathbb{IS}\). The first of them, the system \(\mathbb{CS}\) (controllable system), can counteract external perturbations from \(\mathcal{E}\) within some limits. This system can be described as follows:  
\[\mathbb{CS}=\langle X^{CS},T^{CS},\Phi^{CS},\rangle, \tag{5}\] \[X^{CS}\subseteq X,\,T^{CS}\subseteq T,\,\Phi^{CS}=\Phi^{CS}( \mathbf{x},\mathbf{u},\boldsymbol{\xi},t),\] \[\mathbf{x}\in X^{CS},\mathbf{u}\in U^{CS},\,\boldsymbol{\xi}\in \Xi,\,t\in T^{CS}\subseteq T.\]  
The definition (5) differs from (4) in that the rule \(\Phi^{CS}\) now depends not only on the state \(\mathbf{x}\in X^{CS}\), the uncontrolled influence of \(\boldsymbol{\xi}\in\Xi\) and time \(t\in T^{CS}\), but also from the control actions \(\mathbf{u}\in U^{CS}\). Thus, the system of class \(\mathbb{CS}\) is a dynamic controllable system, reacting (by forming control actions) to the influences of the environment \(\mathcal{E}\) according to the control objectives, which guided the designer of the system.