# Situational Awareness and Problems of Its Formation in the Tasks of UAV Behavior Control
## 5 Forming Elements of Situational Awareness for UAVs
#### 5.1.1 Reference Systems That Provide Object Tracking in a Fragment of Objective Reality  
The task of tracking objects and predicting their behavior in the fragment of objective reality \(\mathcal{R}^{\mathcal{W}}\), which includes the considered UAV, is one of the essential components of the general problem of forming situational awareness required to control the behavior of the UAV. This problem can be formulated and solved in several ways. First of all, they will differ from each other by obtaining data about the motion (behavior) of the tracked object. The motion of an object from \(\mathcal{R}^{\mathcal{W}}\) can be represented in different coordinate systems, in particular  
* in a coordinate system associated with some point on the Earth's surface;
* in a coordinate system associated with some moving object (aircraft, ship, ground moving object) outside the considered UAV;
* in a coordinate system associated with the considered UAV. In other words, it is essential to answer the question: where is the observer whose data is used to track the motion of objects in \(\mathcal{R}^{\mathcal{W}}\):observer is at some point immobile relative to the Earth's surface (for example, this could be the flight control point of a UAV);
* observer is on a movable platform (e.g., it could be a ship or some other movable carrier for the UAV flight control point);
* observer is on a platform that vigorously changes its phase state, including both its trajectory and angular components (in particular, it could be an aircraft acting as a leader in a constellation of aircraft);
* observer is onboard the UAV, which can vigorously change the components of its trajectory and/or angular motion. In this case, if the observer is outside the UAV, for which the task of behavior control is solved, the measurement results must either be transmitted by radio channel onboard the UAV for the subsequent solution to the tracking problem, or this task is solved using an external observer, for example, using Motion Capture technology. In this case, onboard of the UAV are transmitted already ready results of the solution for the task of tracking. In the third case of the above list, the observer platform not only vigorously maneuvers, i.e., changes its trajectory motion, but it also vigorously changes its angular orientation in space (such behavior is typical, for example, for multicopters). An essential question, in this case, is the following: what set of quantities should describe the motion (behavior) of the observed object, and as noted above, relative to what (i.e., in what coordinate system), to detect and track the motion of objects in \(\mathcal{R}^{W\gamma}\) In the problem of controlling the UAV behavior, the most natural representation of the motion of these objects relative to the UAV in question looks the most natural. In this case, we obtain values, first of all, for the quantities describing (characterizing) the motion of the center of mass of the observed object (coordinates of the center of mass; components of velocity and acceleration vectors, maybe overloading--as an indicator of the degree of energy of maneuvering). In addition, it is also necessary to obtain components characterizing the angular motion of the observed object. Thus, we are interested not only in how the center of mass of the observed object moves relative to the UAV in question, but also from what perspective we observe it from the side of this UAV. This information can be important for the control system of the UAV behavior in terms of estimating the possible intentions of the \"neighbors\" of the UAV in \(\mathcal{R}^{W}\). 1.2 An Example of Solving the Problem of Analyzing the Behavior of a Dynamic Object in a Fragment of Objective Reality  
When solving real-world unmanned vehicle control problems (especially in UAV control problems), the task of analyzing and predicting the behavior of various environmental objects is essential.