maisМоделирование и анализ информационных системModeling and Analysis of Information Systems1818-10152313-5417Yaroslavl State University10.18255/1818-1015-2023-4-366-381AEEFHQmais-1826Research ArticleComputing Methodologies and ApplicationsМоделирование влияния внешних воздействий на процесс автоматизированной посадки БпЛА-квадрокоптера на подвижную платформу с использованием технического зренияModeling the influence of external influences on the process of automated landing of a UAV-quadcopter on a moving platform using technical visionhttps://orcid.org/0000-0002-3572-4493РябиновАртём ВалерьевичRyabinovArtyom V.ryabinov.a@iias.spb.suhttps://orcid.org/0000-0003-1851-2699СавельевАнтон ИгоревичSavelievAnton I.saveliev@iias.spb.suhttps://orcid.org/0009-0007-6998-5687АникинДмитрий АндреевичAnikinDmitriy A.anikin.d@iias.spb.suСанкт-Петербургский Федеральный исследовательский центр Российской академии наукРоссияSt. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS)Russian Federation202311122023304366381Copyright © Рябинов А.В., Савельев А.И., Аникин Д.А., 20232023Рябинов А.В., Савельев А.И., Аникин Д.А.Ryabinov A.V., Saveliev A.I., Anikin D.A.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.mais-journal.ru/jour/article/view/1826

В данной статье проводится описание серии экспериментов в симуляционной среде Gazebo, направленных на исследование влияния внешних погодных условий на автоматическую посадку беспилотного летательного аппарата (БпЛА) на движущуюся платформу с использованием компьютерного зрения и разработанной ранее системы управления, основанной на ПИД и полиномиальных регуляторах. В рамках исследования разработаны методы моделирования внешних погодных условий, и проведены тесты посадки с имитацией таких погодных условий, как ветер, освещенность, туман и осадки, включая их комбинации. Во всех экспериментах была достигнута успешная посадка на платформу, в ходе экспериментов измерялось время посадки и ее точность. Проведенный графический и статистический анализ полученных результатов выявил влияние освещенности, осадков и ветра на время посадки БпЛА, а введение ветра в симуляцию при любых других внешних условиях привело к наиболее значительному увеличению времени посадки. При этом в ходе исследования не удалось выявить системного негативного влияния внешних условий на точность посадки. Полученные результаты представляют ценную информацию для дальнейшего совершенствования систем автономной автоматической посадки БпЛА без использования спутниковых систем навигации.

This article describes a series of experiments in the Gazebo simulation environment aimed at studying the influence of external weather conditions on the automatic landing of an unmanned aerial vehicle (UAV) on a moving platform using computer vision and a previously developed control system based on PID and polynomial controllers. As part of the research, methods for modeling external weather conditions were developed and landing tests were carried out simulating weather conditions such as wind, light, fog and precipitation, including their combinations. In all experiments, successful landing on the platform was achieved; during the experiments, landing time and its accuracy were measured. The graphical and statistical analysis of the obtained results revealed the influence of illumination, precipitation and wind on the UAV landing time, and the introduction of wind into the simulation under any other external conditions led to the most significant increase in landing time. At the same time, the study failed to identify a systemic negative influence of external conditions on landing accuracy. The results obtained provide valuable information for further improvement of autonomous automatic landing systems for UAVs without the use of satellite navigation systems.

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The authors declare that there are no conflicts of interest present.