# Situational Awareness and Problems of Its Formation in the Tasks of UAV Behavior Control
## 3 The Situation and Situational Awareness in Behavior Control Problem for UAV
A fragment of objective reality is a particular part of \(\mathcal{R}^{W}\) real world to be observed according to the current needs and capabilities within the context of the UAV behavior control problem to be solved. Here, the needs are defined by the \(\Gamma\) goals of the flight operation and the tasks to be completed based on those goals. Capabilities are what observational tools with which the UAV perceives the current situation, both its external \(\Lambda_{ext}\) and internal \(\Lambda_{int}\) components. At the same time, some of these tools may be external concerning the UAV. Some of the possible types of these facilities are discussed below. In this case, the UAV, for which we solve the problem of controlling its behavior, is one of the elements of the fragment of objective reality \(\mathcal{R}^{W}\), along with other objects in this fragment. In other words, by a fragment \(\mathcal{R}^{W}\) of objective reality, we mean the following. Let a UAV be located at some point of space, for which the problem of controlling its behavioris considered. This space is filled with some objects, the presence and behavior of which should be taken into account in the generation of control actions for the UAV. Which objects should be taken into account depends on the control objectives, on the observation capabilities of the UAV (range of the radar, number of simultaneously tracked objects, etc. ), and one the ability of the UAV to obtain information from external sources (e.g., signals from GPS/GLONASS navigation systems, and information on the UAV's position in space using motion capture technology). In addition to objects, the characteristics of the environment in which they operate should also be considered. This fact is important because, for example, atmospheric phenomena (clouds, fog, precipitation, etc.) can limit the capabilities of the observation equipment used to assess the current situation. Thus, we interpret a fragment \(\mathcal{R}^{\mathcal{W}}\) of objective reality as a set of such interrelated elements as objects \"inhabiting\" the airspace and the underlying surface (land, surface, underwater). Besides, these elements also include the environment in which the objects \(\mathcal{R}^{\mathcal{W}}\) are \"immersed\" (atmosphere, gravitational field, clouds, fumes, etc.). The following examples of fragments of objective reality can be pointed out:  
* UAV flying in airspace over the Earth's surface;
* UAV flying in airspace over the ground as part of a team on a prescribed flight operation;
* UAV flying in airspace over the water surface;
* UAV flying in urban areas. _State of a fragment of objective reality \(\mathcal{R}^{\mathcal{W}}\)_ is a specific set of elements of the real world that are a part of this fragment at the considered moment in time. Namely, the external elements of this set will include only the air environment in the task of controlling the behavior of the aircraft, only the aqueous environment for the two-medium vehicle in the underwater section of its motion, and the boundary of the air and aqueous environment for the seaplane when it performs takeoff and landing operations. Besides, this set of elements includes those phenomena and objects in the atmosphere and/or water environment and objects on the land and water surface, which take place in the situation under consideration. In addition, the essential element of the \(\mathcal{R}^{\mathcal{W}}\) fragment is, as already noted, the UAV, for which the behavior control problem is solved. Definition 2 shows the transition from a fragment of objective reality \(\mathcal{R}^{\mathcal{W}}\) to the scene \(\mathcal{S}^{\mathcal{R}\mathcal{W}}(\Lambda)\), i.e., to the reflection of this fragment by perceiving means located both onboard the UAV and possibly external to the UAV (for example, they may be part of the UAV flight control ground station means). The scene \(\mathcal{S}^{\mathcal{R}\mathcal{W}}(\Lambda)\) in the situational awareness problem has a dynamic nature; i.e., it generally changes over time.