Control of the unmanned aircraft of the air reconnaissance complex. A Quick Guide to Modern Unmanned Aerial Vehicles

Captain 2nd rank V. Evgrafov to t n

In a broad sense, electronic warfare (EW) in leading foreign countries means the use of all parts of the electromagnetic spectrum in order to increase the effectiveness of the combat use of one's forces and means, as well as to reduce the enemy's ability to control his forces and means. Electronic warfare is considered by the military leadership of the Armed Forces of developed foreign states as an integral part of the conduct of hostilities. EW activities are defensive, offensive and supportive in nature and are carried out both in armed confrontation and in the course of operations not related to the conduct of hostilities.

Based on their functional purpose and tasks to be solved, electronic warfare systems and means are divided into three large groups:
- systems and means of electronic suppression (electronic attack);
- systems and means of electronic protection;
- systems and means of electronic support.

This article will consider systems and means of electronic suppression (REW) and electronic support (REO).
REP refers to measures that include the use of special systems and means, including directed energy weapons and anti-radar missiles, to influence the personnel, weapons and military equipment of the enemy. In terms of the effectiveness of the use of REP measures, they can be compared with fire impact.

REO involves carrying out reconnaissance activities in order to detect, intercept, identify intentional and unintentional signals from enemy radio-electronic systems (RES), determine the location of their sources for the timely detection of a threat, take countermeasures, and also for further use in the process of planning military operations. The main part of the tasks of conducting electronic warfare in the armed forces of foreign states is assigned to air-based systems and means, while unmanned aerial vehicles (UAVs) have a number of advantages over manned vehicles, first of all, this is the absence of risk to humans. In addition, when creating UAVs, it is easier to use low visibility technologies, which allows them to approach the target at a closer distance and stay in a given area for the required time. The proximity to the REB object, in turn, reduces the energy costs for jamming, and also ensures the interception of low-power signals emitted by objects of interest when conducting radio and electronic intelligence (RRTR).

Currently, unmanned aerial vehicles are mainly used for reconnaissance, surveillance and communications. At the strategic level of control, the main function of UAVs can be RRTR, during which they must intercept signals, analyze them and form a map of the electronic situation. At the same time, the databases/libraries of the RES located in the patrol area are replenished. At the operational level, the tasks of conducting reconnaissance, including specific reconnaissance, the formation of target designations for weapon systems and the implementation of electronic attacks on the enemy's REM are solved. At the tactical level, with the help of RRTR systems and means, they can collect and transmit to users critical data on the electronic situation and form target designations for their suppression in accordance with the plan of the command. In the future, EW systems and means deployed on UAVs should be most widely used precisely at the tactical level, where they can be used with maximum efficiency, complementing the capabilities of systems and means of reconnaissance and electronic warfare that are more distant from the target.

At present, the development and production of more than 250 UAVs various types and appointments are handled by 49 states. At the moment, this sector of the aerospace business can be considered as one of the most dynamically developing. The United States is the leader in this area (Fig. 1).

All existing and developed UAVs are divided into three main classes: strategic, tactical and special purpose. In each class there is a more detailed gradation: by size, range, flight duration and altitude, as well as by the nature of use (Table 1).

With regard to small UAVs, EW equipment for jamming can be placed on separate samples when solving special problems. It is considered impractical to install electronic protection equipment on them due to the small size and relatively low cost of the devices. Medium-sized UAVs are considered the most promising in terms of equipping with electronic warfare systems and means. Their relatively small size and high maneuverability, along with a sufficient carrying capacity, make them effective means for penetrating into protected areas and carrying out electronic attacks on the enemy's REM. At the same time, to increase the degree of survivability, they can also be equipped with personal electronic protection equipment. On large UAVs, due to their high cost, it is considered expedient to install personal electronic protection equipment, and in some cases, jamming can be carried out by such devices from relatively safe areas.

A separate place is occupied by maneuvering autonomous false air targets (ALVTs). They are aircraft that display a mark on the radar screen that is identical to the mark of the attacking aircraft. The body of the ALVC is made of composite materials. It includes a miniature electronic warfare station that generates enemy radar jamming signals, as well as making it difficult to capture and escort attacking aircraft. Maneuvering ALVC in the future should be widely used (Table 3).

The emergence of a significant number of different UAVs, ranging from micro-UAVs to strategic devices such as the Global Hawk, stimulates the development of new electronic systems and means. The United States and Israel, as well as France and Germany, which produce samples comparable to those of the first two countries, are among the leading countries producing electronic warfare equipment for placement on board UAVs. Many states are not yet very active, being in a state of expectation when the formation of key areas for the development of the market for radio electronic systems and means for UAVs is finally completed.

The main limitations in the development of electronic warfare systems and means are their size, mass and power consumption. Since liquid-cooled EW equipment requires additional space and increases mass, air-cooled equipment is currently being developed for UAVs. Nevertheless, research continues on the possibility of using liquid-cooled systems on these devices. In particular, a promising liquid-cooled PPTP ASIP system is being tested on the Global Hawk strategic UAV of the Block 30 modification. It is planned to purchase 24 such systems with their deployment in 2012.

Big influence The prospects for using UAVs for conducting electronic warfare are influenced by such an indicator as “cost / efficiency”. EW equipment is relatively expensive. Since machines must often perform their functions under high risk conditions, all firms are working to reduce the cost of equipment. The life cycle cost may ultimately be the decisive factor determining the list of companies that will remain in the global UAV avionics market.

Great importance is attached to the speed of data exchange between the ground station and the UAV, as well as to the issues of including the latter in the unified information network (Fig. 2). Typically, communication equipment is designed for a specific platform. But taking into account the principle of universality of application, research is being carried out that is aimed at creating a single communication equipment, made in compliance with the principles of modularity and operational plug-and-play connection.

The ultimate goal is to form a structure where interaction would be carried out not at the UAV level, but directly at the level of electronic warfare systems and means located on several carriers. At the same time, the capabilities of the devices should be available to both users various kinds Armed Forces of one state, and allies as part of the combined forces with appropriate distinctions.

The key property of the UAV, which defines it as a separate type of weapons and military equipment, is autonomy. At present, achievements in the field of computer technology allow these devices to solve their tasks with minimal human intervention.

Computing tools used on UAVs are designed primarily to perform the following functions:
- analysis of intercepted signals according to numerous parameters (frequency, direction to the signal source, signal registration time, etc.);
- conversion and sorting of intercepted signals to assess the electronic situation, grouping signals and recording them in memory devices;
- identification, which is based on the use of databases with a standard structure developed for use in electronic warfare systems.
In these areas, a large amount of work outside the US is carried out in the UK and France.

Rice. 2. Conceptual scheme for the inclusion of UAVs in the global information network
Rice. Fig. 3. The dynamics of the development of the performance of computing devices (a) and the ratio of processor performance and memory capacity (b)

According to the calculations of foreign experts, if the goal is to create an autonomous UAV with the same capabilities for assessing the situation and making decisions as a person, then the performance of its computing device should be at least 10 operations / s, and the storage capacity should be 108 MB. On fig. Figure 3 shows graphs showing progress in the development of computing and storage devices that can be used as part of the electronic weapons of the apparatus.

According to projections for large computing systems, the human level in processing speed and storage capacity can be reached around 2015. It should be noted that the cost of such a supercomputer at the specified time will be very high. According to foreign experts, by 2030 the cost of a processor with a capacity of 108 million operations per second will be about $10,000. As for small-sized computing devices, and these are exactly what are required for UAVs, the desired level, in the absence of qualitative leaps in the development of computer technology, can be achieved no earlier than 2025-2030.

Modern semiconductor silicon processors, created by means of ultraviolet lithography, have a limiting element size of the order of 1 micron. It is believed that by 2015-2020 a transition to new technologies is possible, such as the creation of optical, biochemical, molecular and combined processors, as well as the use of quantum interference switches. Unleashing the potential of quantum interference switches can increase the performance of computing systems by three orders of magnitude, and molecular processors by up to nine orders of magnitude compared to modern computing devices.

In general, when developing new technologies in the production of computing devices for their use as part of UAV radio-electronic equipment, it is planned to take into account, to a large extent, the experience gained in the commercial sphere. At the same time, ensuring additional reliability of all radio-electronic components, including a high degree of resistance to radiation exposure, will remain a separate problem.

Currently, the developers of EW systems and means for UAVs face the following main technical and tactical tasks that need to be solved:
- Determining the optimal distance for the effective conduct of an electronic attack and ensuring the proper degree of survivability of the UAV.
- Equipping the UAV with radio-electronic equipment in accordance with the requirements of low signature visibility. Self-emissions are strong unmasking signs, which increases the likelihood of UAVs being hit (for example, by missiles aimed at radiation).
- Ensuring stable communication with remote subscribers during an electronic attack (own interference can lead to the impossibility of promptly adjusting the tasks of the UAV and disrupting the transmission of intelligence information to other consumers). One of the possible measures is to increase the degree of autonomy of the apparatus. Communication lines must also be protected from the effects of electronic warfare equipment from the enemy.
- Ensuring the transmission of large amounts of information in real time. It is practically impossible to program the UAV for all those changes in the combat situation that may arise in the course of the mission. The decision to correct tasks can be made by a person at the control station, but for this he must receive comprehensive information about the situation.
- Provision high degree the reliability of on-board systems, since the safety of manned platforms depends on the success of the use of UAVs. In addition, UAVs must, to a large extent, have the properties of autonomy in order to function in conditions of a temporarily lost or unstable
communication with the control station.
- Possibility of generating interference of the required power. An increase in the power of interference signals leads to an increase in the size of the UAV and its cost.
- Achieving coordination of actions with the crews of manned aircraft.
- Ensuring the minimum time interval between target detection and its electronic suppression.

Federal Agency for Education of the Russian Federation

State educational institution higher professional education

"South Ural State University"

Faculty of Aerospace

Department of Aircraft and Control

in the history of aerospace engineering

Description of control systems for unmanned aerial vehicles

Chelyabinsk 2009

Introduction

The UAV itself is only a part of a complex multifunctional complex. As a rule, the main task assigned to UAV complexes is reconnaissance of hard-to-reach areas where obtaining information by conventional means, including aerial reconnaissance, is difficult or endangers the health and even life of people. In addition to military use, the use of UAV complexes opens up the possibility of a quick and inexpensive way to survey hard-to-reach areas of the terrain, periodically monitor specified areas, and digitally photograph for use in geodetic work and in cases of emergency. The information received by the onboard monitoring means must be transmitted in real time to the control point for processing and making adequate decisions. At present, tactical complexes of micro and mini-UAVs are most widely used. Due to the larger takeoff weight of mini-UAVs, their payload, in terms of its functional composition, most fully represents the composition of on-board equipment that meets modern requirements for a multifunctional reconnaissance UAV. Therefore, we will further consider the composition of the mini-UAV payload.

Story

In 1898, Nikola Tesla designed and demonstrated a miniature radio-controlled ship. In 1910, inspired by the success of the Wright brothers, a young American military engineer from Ohio, Charles Kettering, proposed the use of unmanned aircraft. According to his plan, a device controlled by a clockwork in a given place was supposed to drop its wings and fall like a bomb on the enemy. Having received funding from the US Army, he built and tested with varying success several devices, called The Kattering Aerial Torpedo, Kettering Bug (or simply Bug), but they were never used in combat. In 1933, the first reusable UAV Queen Bee was developed in Great Britain. Three restored Fairy Queen biplanes were used, remotely controlled from the ship by radio. Two of them crashed and the third flew successfully, making the UK the first country to benefit from UAVs. This radio-controlled unmanned target, called the DH82A Tiger Moth, was used by the Royal Navy from 1934 to 1943. The US Army and Navy used the Radioplane OQ-2 RPV as a target aircraft since 1940. The studies of German scientists who gave the world a jet engine and a cruise missile over the course of the 40s were ahead of their time by several decades. Almost until the end of the eighties, every successful UAV design “from a cruise missile” was a development based on the V-1, and “from an airplane” was a Focke-Wulf Fw 189. The V-1 missile was the first to be used in real combat operations unmanned aerial vehicle. During World War II, German scientists were developing several types of radio-controlled weapons, including the Henschel Hs 293 and Fritz X guided bombs, the Enzian rocket, and a radio-controlled aircraft filled with explosives. Despite the unfinished projects, Fritz X and Hs 293 were used in the Mediterranean against armored warships. Less complex and designed for political rather than military purposes, the V1 Buzz Bomb was a pulse jet-powered aircraft that could be launched from the ground or from the air. In the USSR in 1930-1940. aircraft designer Nikitin developed a special-purpose torpedo-glider (PSN-1 and PSN-2) of the “flying wing” type in two versions: a manned training and sighting and an unmanned aircraft with full automatics. By the beginning of 1940, a project was presented for an unmanned flying torpedo with a flight range of 100 km and more (at a flight speed of 700 km/h). However, these developments were not destined to translate into real designs. In 1941, there were successful uses of TB-3 heavy bombers as UAVs to destroy bridges. During the Second World War, the US Navy tried to use remotely piloted carrier-based systems based on the B-17 aircraft to strike at German submarine bases. After the Second World War, the development of some types of UAVs continued in the United States. During the Korean War, the Tarzon radio-controlled bomb was successfully used to destroy bridges. On September 23, 1957, the Tupolev Design Bureau received a state order for the development of a mobile nuclear supersonic medium-range cruise missile. The first takeoff of the Tu-121 model was carried out on August 25, 1960, but the program was closed in favor of ballistic missiles KB Korolev. The created design was used as a target, as well as in the creation of unmanned reconnaissance aircraft Tu-123 "Hawk", Tu-143 "Flight" and Tu-141 "Strizh", which were in service with the USSR Air Force from 1964 to 1979. 143 "Flight" throughout the 70s was supplied to African and Middle Eastern countries, including Iraq. Tu-141 "Swift" is in service with the Ukrainian Air Force to this day. The Reis complexes with the Tu-143 BRLA are still in operation, they were delivered to Czechoslovakia (1984), Romania, Iraq and Syria (1982), they were used in combat operations during the Lebanese war. In Czechoslovakia in 1984, two squadrons were formed, one of which is currently located in the Czech Republic, the other in Slovakia. In the early 1960s, remotely piloted aircraft were used by the United States to track rocket development in the Soviet Union and Cuba. After the RB-47 and two U-2s were shot down, the development of the Red Wadon high-altitude unmanned reconnaissance aircraft (Model 136) was started to carry out reconnaissance work. The UAV had high wings and low radar and infrared visibility. During the Vietnam War, with the increase in losses of American aircraft from Vietnamese air defense missiles, the use of UAVs increased. They were mainly used for photo reconnaissance, sometimes for electronic warfare purposes. In particular, 147E UAVs were used to conduct electronic intelligence. Despite the fact that, in the end, he was shot down, the drone transmitted to the ground station the characteristics of the Vietnamese C75 air defense system during its entire flight. The value of this information was commensurate with the total cost of the unmanned aerial vehicle development program. It also saved the lives of many American pilots, as well as aircraft over the next 15 years, until 1973. During the war, American UAVs made almost 3,500 flights, with losses of about four percent. The devices were used for photo reconnaissance, signal retransmission, reconnaissance of electronic means, electronic warfare, and as decoys to complicate the air situation. But the full UAV program has been shrouded in mystery to the extent that its success, which should have spurred the development of UAVs after the end of hostilities, has largely gone unnoticed. Unmanned aerial vehicles were used by Israel during the Arab-Israeli conflict in 1973. They were used for surveillance and reconnaissance, as well as decoys. In 1982, UAVs were used during the fighting in the Bekaa Valley in Lebanon. The Israeli AI Scout UAV and Mastiff small-sized remotely piloted aircraft conducted reconnaissance and surveillance of Syrian airfields, air defense systems positions and troop movements. According to information received from the UAV, the distraction group of Israeli aviation, before the strike of the main forces, caused the inclusion of the radar stations of the Syrian air defense systems, which were hit with homing anti-radar missiles, and those that were not destroyed were suppressed by interference. The success of Israeli aviation was impressive - Syria lost 18 SAM batteries. Back in the 70s-80s, the USSR was the leader in the production of UAVs, only about 950 Tu-143s were produced. Remotely piloted aircraft and autonomous UAVs were used by both sides during the war in Persian Gulf 1991 primarily as surveillance and reconnaissance platforms. The USA, England, and France deployed and effectively used systems such as Pioneer, Pointer, Exdrone, Midge, Alpilles Mart, CL-89. Iraq used Al Yamamah, Makareb-1000, Sahreb-1 and Sahreb-2. During Operation Desert Storm, tactical reconnaissance UAVs of the coalition made more than 530 sorties, the flight time was about 1700 hours. At the same time, 28 vehicles were damaged, including 12 that were shot down. Of the 40 Pioneer UAVs used by the US, 60 percent were damaged, but 75 percent were found to be repairable. Of all the lost UAVs, only 2 were combat losses. The low casualty rate is most likely due to the small size of the UAVs, which is why the Iraqi army considered that they did not pose a big threat. UAVs have also been used in UN peacekeeping operations in the former Yugoslavia. In 1992, the United Nations authorized the use of NATO air power to provide air cover for Bosnia, supporting the ground troops deployed throughout the country. To accomplish this task, round-the-clock reconnaissance was required.

In August 2008, the US Air Force completed the rearmament of the first combat air unit, the 174th Fighter Wing of the National Guard, with MQ-9 Reaper unmanned aerial vehicles. The rearmament took place over three years. Attack UAVs have shown high efficiency in Afghanistan and Iraq. The main advantages over the replaced F-16s: lower cost of purchase and operation, longer flight duration, operator safety.

The composition of the onboard equipment of modern UAVs

To ensure the tasks of observing the underlying surface in real time during the flight and digital photography of selected areas of the terrain, including hard-to-reach areas, as well as determining the coordinates of the studied areas of the area, the payload of the UAV should contain:

Devices for obtaining view information:

Satellite navigation system (GLONASS/GPS);

Radio link devices for visual and telemetric information;

Command and navigation radio link devices with an antenna-feeder device;

Command information exchange device;

Information exchange device;

Onboard digital computer (BTsVM);

View information storage device.

Modern television (TV) cameras provide the operator with a real-time picture of the observed area in the format closest to the characteristics of the human visual apparatus, which allows him to freely navigate the terrain and, if necessary, pilot the UAV. Opportunities for detection and recognition of objects are determined by the characteristics of the photodetector and the optical system of the television camera. The main disadvantage of modern television cameras is their limited sensitivity, which does not provide 24-hour use. The use of thermal imaging (TPV) cameras makes it possible to ensure the use of UAVs around the clock. The most promising is the use of combined television-thermal imaging systems. In this case, the operator is presented with a synthesized image containing the most informative parts inherent in the visible and infrared wavelength ranges, which can significantly improve the performance characteristics of the surveillance system. However, such systems are technically complex and quite expensive. The use of radar allows you to receive information around the clock and in adverse weather conditions, when TV and TV channels do not provide information. The use of replaceable modules makes it possible to reduce the cost and reconfigure the composition of onboard equipment to solve the problem in specific application conditions. Consider the composition of the mini-UAV onboard equipment.

▪ The survey course device is fixed at a certain angle to the combat axis of the aircraft, providing the necessary capture zone on the ground. The survey course device may include a television camera (TK) with a wide-field lens (SHPZ). Depending on the tasks to be solved, it can be quickly replaced or supplemented with a thermal imaging camera (TPV), a digital camera (DFA) or radar.

▪ A detailed view device with a PTZ device consists of a Narrow-Field Lens (NFI) and a three-coordinate PTZ device that provides camera rotation along the course, roll and pitch according to the operator's commands for a detailed analysis of a specific area of ​​the terrain. To ensure operation in low light conditions, the TC can be supplemented with a thermal imaging camera (TPV) on a microbolometric matrix with a narrow-field lens. It is also possible to replace the TC with a CFA. Such a solution will allow the use of UAVs for aerial photography when the optical axis of the DFA is turned to nadir.

▪ Devices of the radio link of visual and telemetric information (transmitter and antenna-feeder device) must ensure the transmission of visual and telemetric information in real or close to real time to the launcher within radio visibility.

▪ Devices of the command and navigation radio link (receiver and antenna-feeder device) must ensure the reception within radio visibility of the UAV piloting commands and control of its equipment.

▪ The command information exchange device ensures the distribution of command and navigation information to consumers on board the UAV.

▪ The information exchange device ensures the distribution of visual information between the onboard sources of visual information, the radio link transmitter of visual information and the onboard storage device for visual information. This device also provides information exchange between all functional devices that are part of the target load of the UAV via the selected interface (for example, RS-232). Through the external port of this device, before the takeoff of the UAV, the flight task is entered and prelaunch automated built-in control is carried out on the functioning of the main components and systems of the UAV.

▪ The satellite navigation system provides coordinates (topographical) binding of the UAV and observed objects according to the signals of the global satellite navigation system GLONASS (GPS). The satellite navigation system consists of one or two receivers (GLONASS/GPS) with antenna systems. The use of two receivers, the antennas of which are spaced along the construction axis of the UAV, makes it possible to determine, in addition to the coordinates of the UAV, the value of its heading angle.

▪ The onboard digital computer (OCVM) provides control of the UAV onboard complex.

▪ View information storage device ensures the accumulation of view information selected by the operator (or in accordance with the flight task) until the UAV landing. This device can be removable or fixed. In the latter case, a channel should be provided for retrieving the accumulated information to external devices after the UAV has landed. The information read from the image information storage device makes it possible to carry out a more detailed analysis when deciphering the image information received in flight by the UAV.

▪ The built-in power supply provides voltage and current matching of the on-board power supply and devices that are part of the payload, as well as operational protection against short circuits and overloads in the power grid. Depending on the UAV class, the payload can be supplemented by various types of radars, environmental, radiation and chemical monitoring sensors. The UAV control complex is a complex, multi-level structure, the main task of which is to ensure the withdrawal of the UAV to a given area and the performance of operations in accordance with the flight task, as well as to ensure the delivery of information received by the UAV onboard means to the control point.

UAV onboard navigation and control system

The on-board complex "Aist" is a full-featured means of navigation and control of an unmanned aerial vehicle (UAV) of an aircraft scheme. The complex provides: determination of navigation parameters, orientation angles and UAV movement parameters (angular velocities and accelerations); navigation and control of the UAV during flight along a given trajectory; stabilization of UAV orientation angles in flight; output to the transmission channel of telemetric information about navigation parameters, UAV orientation angles. The central element of the BC "Aist" is a small-sized inertial navigation system (INS) integrated with a satellite navigation system receiver. Built on the basis of microelectromechanical sensors (MEMS gyroscopes and accelerometers) according to the principle of a strapdown INS, the system is a unique high-tech product that guarantees high accuracy of navigation, stabilization and control of aircraft of any class. The built-in static pressure sensor provides dynamic altitude and vertical speed detection. Composition of the onboard complex: block of the inertial navigation system; SNS receiver; autopilot unit; flight data storage; airspeed sensor In the basic configuration, control is carried out through the following channels: ailerons; elevator; rudder; motor controller. The complex is compatible with the PCM radio channel (pulse code modulation) and allows you to control the UAV both in manual mode from a standard remote control, and in automatic mode, according to the commands of the autopilot. Autopilot control commands are generated in the form of standard pulse-width modulated (PWM) signals suitable for most types of actuators. Physical characteristics:

dimensions, mm: autopilot block - 80 x 47 x 10; INS - 98 x 70 x 21; SNS receiver - 30 x 30 x 10; weight, kg: autopilot unit - 0.120; INS - 0.160; SNS receiver - 0.03. Electrical characteristics: supply voltage, V - 10...27; power consumption (max.), W - 5. Environment: temperature, degrees C - from -40 to +70; vibration / shock, g - 20.

Control: RS-232 ports (2) - data reception/transmission; RS-422 ports (5) – communication with external devices; PWM channels (12) - control devices; programmable waypoints (255) - turning points of the route. Operating ranges: roll - ±180°; pitch - ±90°; heading (track angle) - 0...360; acceleration - ±10 g; angular velocity - ±150°/s

Spatial position control system for highly directional antenna systems in UAV complexes

By itself, an unmanned aerial vehicle (UAV) is only a part of a complex complex, one of the main tasks of which is the prompt delivery of the information received to the operational personnel of the control center (CP). The ability to ensure stable communication is one of the the most important characteristics, which determine the operational capabilities of the UAV control complex and ensure that the information received by the UAV is communicated in "real time" mode to the operating personnel of the launcher. To ensure communication over considerable distances and increase noise immunity due to spatial selection in UAV control complexes, highly directional antenna systems (AS) are widely used both on launchers and on UAVs. The functional diagram of the spatial position control system of a highly directional AS, which ensures the optimization of the process of entering into communication in the UAV control complexes, is shown in Fig. one.

The control system of a highly directional AS (see Fig. 1) includes:

Actually a highly directional AS, the radio engineering parameters of which are selected based on the requirements for providing the necessary communication range over the radio link.

AS servo drive that provides spatial orientation of the AS DN in the direction of the expected appearance of the radiation of the communication object.

An automatic tracking system in the direction (ASN), which provides stable auto-tracking of the communication object in the zone of confident capture of the direction-finding characteristics of the ASN system.

A radio receiver that provides the formation of the "Communication" signal, indicating the reception of information with a given quality.

Antenna system control processor, which analyzes the current state of the AU control system, generates servo control signals to ensure the spatial orientation of the AU in accordance with the flight task and the spatial scanning algorithm, analyzes the presence of communication, analyzes the possibility of switching the AU servo from the "External control" mode to the " Auto-tracking”, formation of a signal for transferring the AC servo to the “External control” mode.

Rice. Fig. 1. Functional diagram of the spatial position control system of a highly directional AS in UAV control complexes

The main task performed by the attitude control system of a highly directional AS is to ensure stable entry into communication with the object specified by the flight task.

This task is divided into a number of subtasks:

Ensuring the spatial orientation of the AP DN in the direction of the expected appearance of the radiation of the communication object and its spatial stabilization for the case of the AU location on board the aircraft.

Expansion of the zone of stable capture of the radiation of the communication object through the use of a discrete spatial scanning algorithm with a deterministic spatio-temporal structure.

Switching to the mode of stable auto-tracking of the communication object by the ASN system when the communication object is detected.

Ensuring the possibility of re-entry into communication in case of its failure. For a discrete spatial scanning algorithm with a deterministic spatio-temporal structure, the following features can be distinguished:

Scanning of the AS DN is carried out discretely in time and space. Spatial displacements of the AS DN during scanning are carried out in such a way that there are no spatial zones left that are not overlapped by the zone of confident capture of the ASN system for the entire scanning cycle (see Fig. 2).

Fig.2. An example of organizing discrete spatial scanning in the azimuthal and elevation planes

For each specific spatial position determined by the scanning algorithm, two phases can be distinguished: "Auto tracking" and "External control".

In the "Auto-tracking" phase, the ACH system evaluates the possibility of receiving the radiation of the communication object for the selected spatial position of the RCH.

In case of a positive result of the assessment: Spatial scanning is terminated. The ASN system continues to auto-track the radiation of the communication object according to its internal algorithm. At the input of the AC servo drive, signals of the spatial orientation of the AC are received according to the current bearing of the communication object from the ACH X ACH (t) system. In case of a negative result of the assessment: The RSN SS is spatially moved to the next spatial position determined by the scanning algorithm.

In the phase "External control" at the output of the antenna system control processor, control signals for the AC servo drive are generated. Servo control signal components provide:

X 0 - initial spatial orientation of the AP AP in the direction of the communication object; ∆X LA (t) - parrying the spatial evolution of the aircraft; X ALG (t) is the expansion of the zone of stable capture of the radiation of the communication object of the ASN system in accordance with the discrete spatial scanning algorithm with a deterministic spatio-temporal structure.

In the event of a communication failure, starting from the moment of time T CB=0 (loss of the signal "COMMUNICATION"), the signal X ASN (T CB=0) is stored in the device "Calculation and storage", and is used further by the AC control processor as the value of the expected bearing of the communication object. The engagement process is repeated as described above. In the "External control" mode, the control signal of the servo drive of the highly directional AS through the "heading", "pitch" and "roll" channels can be recorded

(1)

In the "Autotracking" mode, the servo control signal of the highly directional speaker can be recorded

(2)

The specific type of control signals is determined by the design features of the antenna system servo drive.

UAV inertial system

The key point in the mentioned chain is "measuring the state of the system". That is, the coordinates of the location, speed, altitude, vertical speed, orientation angles, as well as angular velocities and accelerations. In the onboard navigation and control complex, developed and manufactured by TeKnol LLC, the function of measuring the state of the system is performed by a small-sized inertial integrated system (MINS). Having in its composition a triad of inertial sensors (micromechanical gyroscopes and accelerometers), as well as a barometric altimeter and a three-axis magnetometer, and combining the data of these sensors with the data of the GPS receiver, the system develops a complete navigation solution in terms of coordinates and orientation angles. MINS developed by TeKnola is a complete inertial system that implements the algorithm of a strapdown INS integrated with a satellite navigation system receiver. It is in this system that the “secret” of the operation of the entire UAV control complex is contained. In fact, three navigation systems work simultaneously in one computer using the same data. We call them "platforms". Each of the platforms implements its own control principles, having its own "correct" frequencies (low or high). The master filter selects the optimal solution from any of the three platforms depending on the nature of the movement. This ensures the stability of the system not only in rectilinear motion, but also during turns, uncoordinated turns, and gusty side winds. The system never loses the horizon, which ensures the correct reactions of the autopilot to external disturbances and an adequate distribution of influences between the UAV controls.

UAV airborne control system

The UAV Onboard Navigation and Control System includes three components (Figure 1).

1. Integrated Navigation System;

2. Satellite Navigation System Receiver

3. Autopilot module.__

The autopilot module generates control commands in the form of PWM (pulse-width modulated) signals, in accordance with the control laws embedded in its computer. In addition to controlling the UAV, the autopilot is programmed to control the onboard equipment:

Video camera stabilization

Time- and coordinate-synchronized shutter release

camera,

parachute release,

Dropping cargo or sampling at a given point

and other functions. Up to 255 waypoints can be stored in the autopilot's memory. Each point is characterized by coordinates, passing altitude and flight speed.

In flight, the autopilot also provides the issuance of telemetry information to the transmission channel for tracking the flight of the UAV (Figure 2).

And what then is a "quasi-autopilot"? Many firms now declare that they provide their systems with automatic flight using "the world's smallest autopilot."

The most illustrative example of such a solution is the production of the Canadian company Micropilot. To generate control signals, "raw" data is used here - signals from gyroscopes and accelerometers. Such a solution, by definition, is not robust (resistant to external influences and sensitive to flight conditions) and, to one degree or another, is operable only when flying in a stable atmosphere.

Any significant external disturbance (a gust of wind, an updraft or an air pocket) is fraught with a loss of orientation of the aircraft and an accident. Therefore, everyone who has ever encountered such products sooner or later understood the limitations of such autopilots, which cannot be used in commercial serial UAV systems.

More responsible developers, realizing that a real navigation solution is needed, are trying to implement a navigation algorithm using well-known Kalman filtering approaches.

Unfortunately, not everything is so simple here either. Kalman filtering is just an auxiliary mathematical apparatus, and not a solution to the problem. Therefore, it is impossible to create a robust stable system by simply transferring the standard mathematical apparatus to MEMS integrated systems. Requires fine and fine tuning for a specific application. In this case, for a maneuverable object of a winged scheme. Our system implements more than 15 years of experience in the development of inertial systems and algorithms for integrating INS and GPS. By the way, only a few countries in the world have the know-how of inertial systems. it

Russia, USA, Germany, France and UK. Behind this know-how are scientific, design and technological schools, and at least

it is naive to think that such a system can be developed and manufactured “on the knee” in an institute laboratory or in an airfield hangar. An amateurish approach here, as in all other cases, is ultimately fraught with financial losses and loss of time. Why is automatic flight so important in relation to the tasks solved by enterprises of the fuel and energy complex? It is clear that air monitoring itself has no alternative. Control over the state of pipelines and other facilities, the tasks of security, monitoring and video surveillance are best solved using aircraft. But reducing costs, ensuring the regularity of flights, automating the collection and processing of information - here, quite rightly, attention is paid to unmanned vehicles, which proves the high interest of specialists in the ongoing exhibition and forum. However, as we saw at the exhibition, unmanned systems can also be complex and expensive systems that require support, maintenance, ground infrastructure and operational services. To the greatest extent, this applies to complexes that were originally created to solve military problems, and now hastily adapted to economic applications. Let's take a closer look at operational issues. UAV control is a task for a well-trained professional. In the US Army, UAV operators become active Air Force pilots after a year of training and training. In many ways, this is more difficult than piloting an aircraft, and as you know, most unmanned aircraft accidents are caused by pilot-operator error. Automatic UAV systems equipped with a full-fledged automatic control system require minimal training of ground personnel, while solving tasks at a great distance from the base, out of contact with the ground station, in any weather conditions. They are easy to operate, mobile, quickly deployed and do not require ground infrastructure. It can be argued that the high characteristics of UAV systems equipped with a full-fledged ACS reduce operating costs and personnel requirements.

Automatic UAV systems

What are the practical results of using an onboard complex with a real inertial system? The TeKnol company has developed and offers customers automatic rapid deployment UAV systems for solving monitoring and aerial surveillance tasks. These systems are presented at our booth at the exhibition.

The autopilot as part of the onboard navigation and control complex provides

Automatic flight along a given route;

Automatic takeoff and landing;

Maintaining a given altitude and flight speed;

Stabilization of orientation angles;

Software control of onboard systems.

Operational UAV.

The multi-purpose UAV system is being developed by Transas and equipped with the TeKnola navigation and control system.

Since the control of a small-sized UAV is the most difficult task, we will give examples of the operation of the onboard navigation and control complex for an operational mini-UAV with a take-off weight of 3.5 kg.

When conducting aerial survey of the terrain, the UAV flies along lines with an interval of 50-70 meters. The autopilot ensures following the route with a deviation not exceeding 10-15 meters at a wind speed of 7 m/s (Figure 5).

It is clear that the most experienced pilot-operator is not able to provide such control accuracy.

Rice. 5: The route and flight path of the mini UAV when surveying the area

Maintaining a given flight altitude is also provided by the MINS, which develops an integrated solution based on GPS data, barometric altimeter and inertial sensors. During automatic flight along the route, the airborne complex ensures the accuracy of maintaining the altitude within 5 meters (Figure 6), which allows you to fly confidently at low altitudes and with terrain avoidance.

Figure 7 shows how the ACS brings the UAV out of a critical roll of 65º, as a result of the impact of a crosswind gust during the maneuver. Only a real INS as part of the onboard control complex is able to provide dynamic measurement of UAV orientation angles, without “losing the horizon”. Therefore, during the testing and operation of our UAVs, not a single aircraft was lost while flying under the control of an autopilot.

Another important function of the UAV is the control of the video camera. In flight, the stabilization of the forward view camera is ensured by practicing roll oscillations of the UAV according to the autopilot signals and MINS data. Thus, the picture of the video image is stable, despite the roll fluctuations of the aircraft. In the tasks of aerial photography (for example, when compiling an aerial photograph of the proposed area of ​​work), accurate information about the orientation angles, coordinates and height of the UAV is absolutely necessary for correcting aerial photographs and automating frame stitching.

An unmanned aerial photography complex is also being developed by TeKnol LLC. To do this, the digital camera is being finalized and included in the autopilot control loop. The first flights are scheduled for spring 2007. In addition to the rapid deployment UAV systems mentioned, the UAV Navigation and Control System is operated by SKB Topaz (Voron UAV), installed on a new UAV developed by Transas (Dozor multi-purpose UAV complex), and being tested on Global Teknik mini UAVs. (Turkey). Negotiations are underway with other Russian and foreign clients. The above information and, most importantly, the results of flight tests, clearly indicate that without a full-fledged onboard control complex equipped with a real inertial system, it is impossible to build modern commercial UAV systems that can solve problems safely, quickly, in any weather conditions, with minimal operating costs. Such complexes are mass-produced by TeKnol.

conclusions

The considered composition of the onboard equipment of the UAV makes it possible to solve a wide range of tasks for monitoring the terrain and areas that are difficult to access for humans in the interests of National economy. The use of television cameras in the onboard equipment makes it possible to provide high resolution and detailed monitoring of the underlying surface in real time under conditions of good weather visibility and illumination. The use of DFA allows the use of UAVs for aerial photography in a given area with subsequent detailed interpretation. The use of TPV equipment makes it possible to ensure round-the-clock use of UAVs, although with a lower resolution than when using television cameras. The most expedient is the use of complex systems, such as TV-TVS, with the formation of a synthesized image. However, such systems are still quite expensive. The presence of a radar on board allows you to receive information with a lower resolution than TV and TVW, but around the clock and under adverse weather conditions. The use of replaceable modules of devices for obtaining visual information makes it possible to reduce the cost and reconfigure the composition of on-board equipment to solve the problem in specific application conditions. The ability to provide stable communication is one of the most important characteristics that determine the operational capabilities of the UAV control complex. The proposed system for controlling the spatial position of a highly directional AS in UAV control complexes ensures the optimization of the process of entering into communication and the possibility of restoring communication in case of loss. The system is applicable for use on UAVs, as well as at ground and air-based control points.

Used Books

1. http://www.airwar.ru/bpla.html

2. http://ru.wikipedia.org/wiki/UAV

3. http://www.ispl.ru/Sistemy_upravleniya-BLA.html

4. http://teknol.ru/products/aviation/uav/

5. Orlov B.V., Mazing G.Yu., Reidel A.L., Stepanov M.N., Topcheev Yu.I. - Fundamentals of designing ramjet engines for unmanned aerial vehicles.

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Tactical and technical characteristics of unmanned aerial vehicles in service with units of the constituent entity of the Russian Federation

For the technical equipment of the Ministry of Emergency Situations of Russia with unmanned aerial vehicles, Russian enterprises have developed several options, consider some of them:

UAV ZALA 421-16E

- this is a long-range unmanned aircraft (Fig. 1.) with an automatic control system (autopilot), a navigation system with inertial correction (GPS / GLONASS), an integrated digital telemetry system, navigation lights, a built-in three-axis magnetometer, a module for keeping and active target tracking ( "AC Module"), a built-in digital camera, a digital broadband video transmitter of C-OFDM modulation, a radio modem with a satellite navigation system (SNS) receiver "Diagonal AIR" with the ability to work without a SNS signal (radio range finder) a self-diagnostic system, a humidity sensor, a temperature sensor, a current sensor, a propulsion system temperature sensor, a parachute release, an air cushion to protect the target load during landing, and a search transmitter.

This complex is designed for conducting aerial surveillance at any time of the day at a distance of up to 50 km with real-time video transmission. The unmanned aircraft successfully solves the tasks of ensuring the security and control of strategically important objects, allows you to determine the coordinates of the target and quickly make decisions on adjusting the actions of ground services. Thanks to the built-in AS Module, the UAV automatically monitors static and moving objects. In the absence of a SNS signal, the UAV will autonomously continue the task

Figure 1 – UAV ZALA 421-16E

UAV ZALA 421-08M

(Fig. 2.) Made according to the "flying wing" scheme - this is a tactical range unmanned aircraft with an autopilot, it has a similar set of functions and modules as ZALA 421-16E. This complex is designed for operational reconnaissance of the area at a distance of up to 15 km with real-time video transmission. UAV ZALA 421-08M compares favorably with ultra-reliability, ease of use, low acoustic, visual visibility and the best target loads in its class. This aircraft does not require a specially prepared runway due to the fact that the takeoff is made by means of an elastic catapult, it carries out aerial reconnaissance under various weather conditions at any time of the day.

Transportation of the complex with UAV ZALA 421-08M to the place of operation can be carried out by one person. The lightness of the device allows (with appropriate training) to launch "by hand", without using a catapult, which makes it indispensable in solving problems. The built-in AS Module allows the unmanned aircraft to automatically monitor static and moving objects, both on land and on water.

Figure 2 – UAV ZALA 421-08M

UAV ZALA 421-22

is an unmanned helicopter with eight rotors, medium range actions, with a built-in autopilot system (Fig. 3). The design of the apparatus is foldable, made of composite materials, which ensures the convenience of delivery of the complex to the place of operation by any vehicle. This device does not require a specially prepared runway due to vertical automatic launch and landing, which makes it indispensable for aerial reconnaissance in hard-to-reach areas.

ZALA 421-22 is successfully used to perform operations at any time of the day: to search and detect objects, to ensure the security of perimeters within a radius of up to 5 km. Thanks to the built-in “AS Module”, the device automatically monitors static and moving objects.

Phantom 3 Professional

It represents the next generation of DJI quadcopters. It is capable of recording 4K video and transmitting high definition video right out of the box. The camera is integrated into the gimbal for maximum stability and weight efficiency when minimum size. In the absence of a GPS signal, the Visual Positioning technology ensures hovering accuracy.

Main functions

Camera and Gimbal: The Phantom 3 Professional shoots 4K video at up to 30 frames per second and captures 12 megapixel photos that look sharper and cleaner than ever. Improved camera sensor gives you greater clarity, low level noise, and better shots than any previous flying camera.

HD Video Link: Low latency, HD video transmission based on the DJI Lightbridge system.

DJI Intelligent Flight Battery: 4480 mAh The DJI Intelligent Flight Battery has new cells and uses an intelligent battery management system.

Flight Controller: Next-generation flight controller for more reliable performance. The new recorder saves the data of each flight, and visual positioning allows you to accurately hover at one point in the absence of GPS.

Figure 4 - Phantom 3 Professional UAV

UAV Inspire 1

The Inspire 1 is a new multi-rotor capable of recording 4K video and transmitting HD video (up to 2 km) to multiple devices right out of the box. Equipped with a retractable landing gear, the camera can rotate 360 ​​degrees unhindered. The camera is integrated into the gimbal for maximum stability and weight efficiency in a minimal footprint. In the absence of a GPS signal, the Visual Positioning technology ensures hovering accuracy.

Main functions

Camera & Gimbal: Records up to 4K video and 12-megapixel photos. Neutral density (ND) filters are provided for better exposure control. The new gimbal mechanism allows you to quickly remove the camera.

HD Video Link: Low latency, HD video transmission, this is an upgraded version of the DJI Lightbridge system. There is also the possibility of control from two remote controls.

Chassis: Retractable landing gear, allow the camera to take panoramas unhindered.

DJI Intelligent Flight Battery: 4500mAh uses an intelligent battery management system.

Flight Controller: Next-generation flight controller for more reliable performance. The new recorder saves the data of each flight, and visual positioning allows, in the absence of GPS, to accurately hover at one point.

Figure 5 - UAV Inspire 1

All characteristics of the UAVs listed above are presented in Table 1 (except for Phantom 3 Professional and Inspire 1 as indicated in the text)

Table 1. Characteristics of the UAV

Lesson on solving problems, taking into account the capabilities of unmanned aerial vehicles that are in service with the units of the subject of the Russian Federation.

– detection of emergencies;

- participation in the liquidation of emergency situations;

– assessment of damage from emergencies.

Considering the experience of using unmanned aerial vehicles in the interests of the Ministry of Emergency Situations of Russia, the following generalizations can be made: - the economic feasibility of using unmanned aerial vehicles is due to ease of use, the possibility of takeoff and landing on any selected territory; - operational headquarters receives reliable video and photo information, which allows you to effectively manage the forces and means of localization and liquidation of emergencies; - the ability to transmit video and photo information in real time to control points allows you to quickly influence the situation and make the right management decision; – the possibility of manual and automatic use of unmanned aerial vehicles. In accordance with the Regulations "On the Ministry of the Russian Federation for Civil Defense, Emergency Situations and Elimination of Consequences of Natural Disasters", the Russian Emergencies Ministry manages the Unified State System for the Prevention and Elimination of Emergency Situations at the federal level. The efficiency of such a system is largely determined by the level of its technical equipment and the correct organization of the interaction of all its elements. To solve the problem of collecting and processing information in the field of civil defense, protecting the population and territories from emergencies, providing fire safety, the safety of people on water bodies, as well as the exchange of this information, it is expedient to use complex space, air, ground or surface-based technical means. The time factor is extremely important when planning and carrying out measures to protect the population and territories from emergencies, as well as ensuring fire safety. From timely receipt of information about emergencies to management

The use of unmanned aerial vehicles in the interests of the Russian Emergencies Ministry is very relevant. Unmanned aerial vehicles are experiencing a real boom. Unmanned aerial vehicles of various purposes, various aerodynamic schemes and with a variety of tactical and technical characteristics rise into the airspace of various countries. The success of their application is associated, first of all, with the rapid development of microprocessor computing technology, control systems, navigation, information transmission, artificial intelligence. Achievements in this area make it possible to fly in automatic mode from takeoff to landing, to solve the problems of monitoring the earth's (water) surface, and for military unmanned aerial vehicles to provide reconnaissance, search, selection and destruction of targets in difficult conditions. Therefore, in most industrialized countries, both the aircraft themselves and the power plants for them are being developed on a wide front.

Currently, unmanned aerial vehicles are widely used by the Russian Medical Unit for managing crisis situations and obtaining operational information.

They are able to replace airplanes and helicopters in the course of performing missions associated with the risk to the lives of their crews and the possible loss of expensive manned aircraft. The first unmanned aerial vehicles were delivered to the EMERCOM of Russia in 2009. In the summer of 2010, unmanned aerial vehicles were used to monitor the fire situation in the Moscow Region, in particular, in the Shatursky and Egoryevsky districts. In accordance with Decree of the Government of the Russian Federation of March 11, 2010 No. 138 “On Approval of the Federal Rules for the Use of the Airspace of the Russian Federation”, an unmanned aerial vehicle is understood to be an aircraft that flies without a pilot (crew) on board and is automatically controlled in flight by an operator from the control point or a combination of these methods

The unmanned aerial vehicle is designed to solve the following tasks:

– unmanned remote monitoring forest areas to detect forest fires;

– monitoring and transmission of data on radioactive and chemical contamination of terrain and airspace in a given area;

engineering reconnaissance of areas of floods, earthquakes and other natural disasters;

– detection and monitoring of ice jams and river floods;

– monitoring of the state of transport highways, oil and gas pipelines, power lines and other facilities;

– ecological monitoring of water areas and coastline;

- determination of the exact coordinates of emergency areas and affected objects.

Monitoring is carried out day and night, in favorable and limited weather conditions.

Along with this, the unmanned aerial vehicle provides a search for the crashed (accident) technical means and missing groups of people. The search is carried out according to a pre-set flight task or along a flight route that can be quickly changed by the operator. It is equipped with guidance systems, airborne radar systems, sensors and video cameras.

During the flight, as a rule, the control of an unmanned aerial vehicle is automatically carried out by means of an onboard navigation and control complex, which includes:

- a satellite navigation receiver that provides reception of navigation information from GLONASS and GPS systems;

- a system of inertial sensors that determines the orientation and motion parameters of an unmanned aerial vehicle;

- a system of sensors that provides measurement of altitude and airspeed;

– various types of antennas. The on-board communication system operates in the authorized radio frequency range and provides data transmission from board to ground and from ground to board.

Tasks for the use of unmanned aerial vehicles can be classified into four main groups:

– detection of emergencies;

- participation in the liquidation of emergency situations;

– search and rescue of victims;

– assessment of damage from emergencies.

The detection of an emergency is understood as a reliable establishment of the fact of an emergency, as well as the time and exact coordinates of the place of its observation. Aerial monitoring of territories using unmanned aerial vehicles is carried out on the basis of forecasts of an increased probability of an emergency or according to signals from other independent sources. This may be a flight over forest areas in fire hazardous weather conditions. Depending on the speed of the emergency, data is transmitted in real time or processed after the return of the unmanned aerial vehicle. The received data can be transmitted via communication channels (including satellite) to the headquarters of the search and rescue operation, the regional center of the EMERCOM of Russia or to the central office of the EMERCOM of Russia. Unmanned aerial vehicles can be included in the forces and means to eliminate emergencies, and can also be extremely useful, and sometimes indispensable, in search and rescue operations on land and at sea. Unmanned aerial vehicles are also used to assess damage from emergencies in cases where this must be done promptly and accurately, as well as without risk to the health and life of ground rescue teams. Thus, in 2013, unmanned aerial vehicles were used by employees of the Russian Emergencies Ministry to monitor the flood situation in the Khabarovsk Territory. With the help of data transmitted in real time, the state of protective structures was monitored to prevent dam breaks, as well as the search for people in flooded areas with subsequent adjustment of the actions of employees of the Russian Emergencies Ministry.

Considering the experience of using unmanned aerial vehicles in the interests of the Ministry of Emergency Situations of Russia, the following generalizations can be made: - the economic feasibility of using unmanned aerial vehicles is due to ease of use, the possibility of takeoff and landing on any selected territory; - the operational headquarters receives reliable video and photo information, which allows you to effectively manage the forces and means of localization and liquidation of emergencies; - the ability to transmit video and photo information in real time to control points allows you to quickly influence the situation and make the right management decision; – the possibility of manual and automatic use of unmanned aerial vehicles. In accordance with the Regulations "On the Ministry of the Russian Federation for Civil Defense, Emergency Situations and Elimination of Consequences of Natural Disasters", the Russian Emergencies Ministry manages the Unified State System for the Prevention and Elimination of Emergency Situations at the federal level. The efficiency of such a system is largely determined by the level of its technical equipment and the correct organization of the interaction of all its elements. To solve the problem of collecting and processing information in the field of civil defense, protecting the population and territories from emergencies, ensuring fire safety, the safety of people in water bodies, as well as exchanging this information, it is advisable to use complex space, air, ground or surface-based technical means. The time factor is extremely important when planning and carrying out measures to protect the population and territories from emergencies, as well as ensuring fire safety. The level of economic damage from emergencies and the number of affected citizens largely depend on the timely receipt of information about emergencies by the leadership of the Ministry of Emergency Situations of Russia at various levels and on the prompt response to what is happening. At the same time, in order to make appropriate operational management decisions, it is necessary to provide complete, objective and reliable information that is not distorted or modified due to subjective factors. Thus, the further introduction of unmanned aerial vehicles will significantly contribute to filling information gaps regarding the dynamics of the development of emergencies. An extremely important task is to detect the occurrence of emergencies. The use of unmanned aerial vehicles alone can be very effective for a slowly developing emergency or emergency in relative proximity to the deployed forces and means to eliminate it. At the same time, in combination with data obtained from other technical means of space, ground or surface-based, the real picture of upcoming events, as well as the nature and pace of their development, can be presented in detail. The technical equipment of the EMERCOM of Russia with promising robotic systems is an urgent and extremely important task. The development, production and implementation of such tools is a rather complex and capital-intensive process. However, government spending on such equipment will be covered by the economic effect of the prevention and elimination of emergencies using this equipment. Only from the annual forest fires, the Russian Federation suffers colossal economic losses. Thus, in order to modernize the technical base of the EMERCOM of Russia, a Program was developed for re-equipping the units of the EMERCOM of Russia with modern models of machinery and equipment for 2011-2015. An analysis of the response of authorities and forces to federal emergencies associated with the passage of the summer-autumn flood of 2013 in the Far Eastern Federal District emphasized the relevance of the use of unmanned aerial vehicles in the interests of the Russian Emergencies Ministry. In connection with this, it was decided to create a division of unmanned aerial vehicles. Along with this, there are a number of problems that need to be addressed before unmanned aircraft become widespread. Among them, one can single out the integration of unmanned aerial vehicles into the air traffic system in such a way that they do not pose a threat of collisions with manned aircraft, both civil and military. When carrying out specific rescue operations, the forces of the Ministry of Emergency Situations of Russia have the right to use their technical means to carry out the necessary work. In this regard, there are currently no strict regulatory restrictions, and even more so, prohibitions on the use of unmanned aerial vehicles in the interests of the Russian Emergencies Ministry. At the same time, the issues of legal regulation of the development, production and use of unmanned aerial vehicles for civil purposes in general have not yet been resolved.

– the first turning point of the route (the starting point of the route (IPM) is set near the starting point.

- the depth of the working area should be within the limits of stable reception of the video signal and telemetry information from the UAV. (Depth of working area

– distance from the location of the NSS antenna to the most remote turning point. Working area - the territory within which the UAV performs a given flight program.).

– The track line, if possible, should not pass near power lines (power lines) of high power and other objects with a high level electromagnetic radiation(radar stations, transceiver antennas, etc.).

— The estimated flight duration time must not exceed 2/3 of the maximum duration declared by the manufacturer.

- It is necessary to provide at least 10 minutes of flight time for take-off and landing. For a general inspection of the territory, the most appropriate is a circular closed route. The main advantages of this method are the coverage of a large area, the efficiency and speed of monitoring, the possibility of surveying hard-to-reach areas of the terrain, relatively simple planning of a flight task, and prompt processing of the results obtained. The flight route must provide an inspection of the entire working area.

For the rational use of UAV energy resources, it is advisable to lay the flight route in such a way that the first half of the UAV flight takes place against the wind.

Figure 2 - Building a flight of a straight parallel route.

The parallel route is recommended for use in aerial photography of terrain. When preparing a route, the operator must take into account the maximum width of the field of view of the UAV camera at a given altitude of its flight. The route is laid so that the edges of the camera's field of view overlap neighboring fields by about 15% -20%.

Figure 3 - Parallel route.

Flight over a given object is used when conducting inspections of specific objects. It is widely used in cases where the coordinates of an object are known and its state needs to be clarified.

Figure 4 - Flyby of a given object

During the inspection of active forest fires, the operator determines the main direction of the spread of fire, the presence of a threat of fire spread to economic facilities and settlements, the presence of separate combustion centers, areas that are especially dangerous in terms of fire, the place where the fire passes through the mineralized strips, and, if possible, identifies the location of people and equipment involved in extinguishing the fire in order to determine the correct placement of them on the edge of the fire. Simultaneously with the receipt of video information, representatives of the forest service make decisions on tactical methods of extinguishing, maneuvering human and technical resources. Natural boundaries are outlined to stop the fire, access roads (approaches) to the fire, a section of the edge (roads, trails, lakes, streams, rivers, bridges).

UAV application example

In April 2011, three HE300 unmanned helicopters were used to visually monitor the stricken nuclear plant in Fukushima. These UAVs are equipped with a professional video camera, a thermal imaging camera, various sensors for measuring and shooting, and a tank for spraying various liquids. The results of video filming from the UAV are shown in Figure 5.6.

Figure 5.6 - Japanese nuclear power plant after an accident with a UAV.

In February 2014, ZALA UAVs allowed the EMERCOM teams in the Kirov region to control the situation during a fire at a railway station (a train with gas condensate went off the rails and caught fire), competently concentrate forces for the safe evacuation of residents and liquidation of the consequences of the incident. Aerial monitoring of the emergency zone was carried out during the day and at night, completely eliminating the risk to the life of the population and the emergency rescue team. Photos from the place. crashes filmed by the UAV are shown in Figure 7.

Figure 7 - Fire at the railway station, filmed by a UAV camera.

The ZALA UAV complex was used to monitor the flood in the Far East in 2013. The Moscow detachment "Centrospas" sent a complex with unmanned aircraft to Khabarovsk, which carried out flights in the daytime and at night, informing ground detachments about the flooded territories and the whereabouts of people in distress Fig. 8.

Figure 8 - Overview of the flood zone

At the end of the next exhibition "Unmanned Multi-Purpose Systems" - UVS-TECH 2009, all interested readers are offered an overview of Russian aircraft-type unmanned aerial systems. It is perhaps the most complete list of UAV projects, both previously implemented and those on which work is currently ongoing. UAVs are systematized by mass and range.

In Russia, one and a half dozen large and small firms are working in the field of creating complexes with UAVs. All developers, as a rule, go in the direction of creating a wide range of multifunctional complexes capable of performing various tasks. As a result, potential customers are offered a lot of, in fact, the same type of UAVs that solve similar problems.

Unfortunately, in Russia there is no accepted UAV classification. Classify the available this moment in the domestic market, samples and projects of UAVs using the categories of the association of unmanned systems UVS International are not entirely possible. In addition, there are problems with the interpretation by Russian developers of certain characteristics, for example, the range of UAVs. To systematize the UAV systems currently available in Russia, the following classification is proposed, based on take-off weight and / or range.

Micro and mini short-range UAVs

The class of miniature ultralight and light vehicles and complexes based on them with a takeoff weight of up to 5 kg began to appear in Russia relatively recently, but is already quite widely represented. UAVs are designed for individual operational use at short ranges at a distance of up to 25 ... 40 km. They are easy to operate and transport, are foldable and are positioned as “wearable”, as a rule, they are launched from the hand.

The Izhevsk company "Unmanned Systems" is actively working in the field of creating UAVs of this type. These include the ZALA 421-11 ultralight monitoring UAV, the first flight of which was performed in 2007. The whole complex is placed in a case of a standard size. According to the set of target load, the device is identical to another model - . This portable small-sized complex includes two UAVs, a control station and a container-backpack for transportation. The total weight of the complex is only 8 kg. For monitoring, a replaceable unit is used (TV, IR cameras, camera). In the summer of 2008, test flights of a ship modification were carried out from the icebreaker to conduct reconnaissance and search for objects on the water. In accordance with the requirements of the Border Guard Service, the company has recently developed a lightweight ZALA 421-12 UAV with an increased flight duration. The device allows you to monitor using a full-fledged gyro-stabilized camera on two axes with the ability to view the lower hemisphere and with an optical magnification of 26 times. The UAV is capable of monitoring day and night. Navigation is based on GPS/GLONASS signals.

The Kazan company "ENIKS" represents in this class a whole family of devices and complexes, for which the base has become. This is a UAV for remote observation of objects and monitoring of the ground situation. The device is made according to the “flying wing” scheme with folding consoles, an electric motor with a pusher propeller is located in the tail section. The UAV can be equipped with a wide range of surveillance equipment, including a stabilized TV system, a camera, etc.). The whole complex can be transported in shoulder containers or by road. The development of the basic version was completed in 2003, and its production began in 2004. In 2008, the pilot operation of the complex was carried out at the polar station SP-35 together with the State Scientific Center of the Russian Federation AARI. The civilian version of Eleron is called T25. The payload is a stabilized TV system (in the T25D modification), an IR camera (T25N) or a camera. The development of the T23 is the Eleron-3 and Gamayun-3 UAV family. Their creation was announced in 2008. UAV "Eleron-3" is planned to be created in at least seven modifications, which differ mainly in the target load, which may include a TV, IR camera, camera, repeater, RTR station and jamming. When simulating air targets, Luneberg lenses and IR emitters can be installed. Navigation is based on GPS/GLONASS signals. The control station is unified with the Eleron-10 (T10) complex. On the basis of the Eleron type apparatus, Irkut OJSC created an aviation remote sensing complex "". In 2007, the UAV was accepted for supply by the Russian Emergencies Ministry.

SKB "Topaz" offers its own portable remote monitoring system. It includes a small-sized UAV "Lokon". The payload includes TV, IR cameras and a camera. The ground component of the complex includes a control point, receiving and processing information and containers for carrying UAVs. Production is carried out at the Istra Experimental Mechanical Plant (IEMZ).

A number of IEMZ's own developments also belong to micro- and mini-UAVs. In particular, the specialists of the plant have developed the basic UAV "Istra-010" weighing 4 kg for aerial photographic reconnaissance. The enterprise manufactured five sets of such UAVs for experimental military operation and transferred them to the RF Ministry of Defense. The complex includes ground station and two aircraft. In 2008, the enterprise was creating a photo reconnaissance vehicle weighing 2.5 ... 3 kg, which is a lightweight version of the previously built UAV weighing 4 kg.

The research and production and design center "Novik-XXI century" has long been known for its developments in the field of unmanned systems. One of the systems developed by the company is the BRAT UAV complex. It includes a small unmanned vehicle weighing 3 kg. The standard target load is two TV cameras or one digital camera.

To date, the line of unmanned systems of the Russian innovative company Aerocon includes three devices of the Inspector series. Two of them belong to the mini-UAV class, and the “youngest” is approaching the “micro” class. The complexes are designed to solve a variety of surveillance tasks, including in difficult and cramped conditions, in an urban environment.

One of the "fresh" developments in the field of mini-class systems is the complex with the T-3 UAV, created by the Rissa company. UAV T-3 is designed for use in day and night video surveillance tasks, aerial photography, for use as a carrier of a radio signal repeater. Currently, the complex is undergoing the stage of testing pre-series samples and fine-tuning ground equipment

Light short-range UAVs

The class of light short-range UAVs includes somewhat larger devices - in the mass range from 5 to 50 kg. The range of their action is within 10 - 70 km.

The company "Novik-XXI century" in this class offers an unmanned complex "Grant". It includes a basic automated workstation on the UAZ-3741 chassis, a transport and launcher on the UAZ-3303 chassis and two Grant UAVs. The unmanned vehicles have a mass of 20 kg.

UAVs ZALA 421-04 offer "Unmanned Systems". The device is made according to the "flying wing" scheme with a pusher propeller. The UAV is equipped with an automatic control system that allows you to set the route, control and correct the flight in real time. The payload is a color video camera on a gyro-stabilized platform. Since 2006, the complex has been supplying the Ministry of Internal Affairs of the Russian Federation.

At the UVS-TECH 2008 exhibition, CJSC ENIKS announced for the first time the creation of two monitoring systems based on the T10 drone, adapted for specific tasks - Eleron-10 and Gamayun-10. In the Eleron-10 complex, it is possible to use UAVs in several target load options, including with a TV, IR camera, camera, repeater, RTR station and jamming. In 2007-2008 complex "Eleron-10" has passed a cycle of flight tests. A similar device is also in the line of UAVs of the Irkut company. The Irkut-10 complex consists of two UAVs, ground facilities control and maintenance, equipped with a communication line with two digital secure channels for control and data transmission. Serial production is being prepared.

Another "brainchild" of ENIKS CJSC is the T92 Lotos UAV. It is designed to deliver a target load to a given area or perform monitoring. TV and/or IR cameras can be used as payloads. The UAV took part in the research exercises of the Ground Forces at the Alabinsky training ground of the Moscow Military District and in the exercises of the Ministry of Emergency Situations of the Republic of Tatarstan in 1998. Currently, the complex is in operation. This UAV is aerodynamically similar to the small-sized UAV T90 (T90-11), designed for monitoring the area, operational search, and detection of ground objects. Its uniqueness lies in the fact that it is used as part of the Smerch MLRS. The adjustment of MLRS fire carried out by the device at a distance of up to 70 km reduces firing errors and reduces the consumption of shells. Payload - TV camera. When folded, the UAV is placed in a special container and fired using a standard 300-mm rocket projectile. According to reports, the complex is currently being tested in the interests of the RF Ministry of Defense.

In addition, in this class, ENIKS is developing a remote viewing complex with a light UAV T21. The payload is a TV camera. The design of the UAV allows it to be transported in a small container. There is a T24 UAV project designed for remote monitoring of the area and transmission of photo and video images to a ground control room. Its layout is similar to the Eleron UAV. The payload is standard - TV / IR system.

The Rybinsk Design Bureau "Luch" created several UAVs for the "Tipchak" aerial reconnaissance complex. The most "advanced" of them is BLA-05. Its State tests were completed in 2007, in 2008 its mass production began. The UAV is capable of searching for objects and transmitting data in real time to the ground command post at any time of the day. The payload is a combined two-spectrum TV / IR camera, which can be replaced with photographic equipment. In addition to the BLA-05, the company some time ago announced two more devices designed for use in the complex. One of them is BLA-07, a small-sized tactical UAV. As a target load, it carries a combined dual-spectrum TV / IR camera or camera. Its design began in 2005. The next vehicle is BLA-08. This is a low-speed UAV with a long flight duration. It is intended for use in intelligence systems in the interests of various branches of the armed forces and branches of service.

Light medium-range UAVs

A number of domestic samples can be attributed to the class of light medium-range UAVs. Their mass is in the range of 50 - 100 kg.

These include, in particular, the multi-purpose UAV T92M "Chibis", created by JSC "ENIKS". The device is aerodynamically almost completely unified with commercially available E95M and E2T air targets. TV and IR cameras can be used as payloads. The propulsion system is a piston engine instead of the M135 PuVRD. The complex is in the stage of preparation for operation.

Recently, the company "Unmanned Systems" created a new UAV ZALA 421-09, which is designed to monitor earth's surface and has a long flight time - 10.5 hours. It is supplied with a ski or wheeled chassis. Target load - TV, IR camera, camera on a gyro-stabilized platform.

The developments of the company "Transas" - UAVs "Dozor-2" and "Dozor-4" are very interesting. Both devices have a similar layout. UAV "Dozor-2" is used to monitor objects of national economic and military purposes, deliver the necessary cargo, patrol the borders, digital cartography. Its payload is an automatic digital camera, high-resolution forward and side-view cameras, and a near and far IR system. The entire complex is located on the basis of a cross-country vehicle. The creation of the complex was started in 2005. current year it was tested in the interests of the Border Service, several sets were ordered by one of the Russian oil companies to monitor pipelines. "Dozor-4" - modification of the UAV "Dozor-2". A batch of these UAVs has already been put into production in the amount of 12 devices for conducting military tests in the interests of the Border Guard Service of the FSB of the Russian Federation.

The rather old Stroy-P complex, developed by the Moscow Research Institute Kulon with the Pchela-1T UAV, also belongs to the class under consideration. At present, the complex has been modernized ("Stroy-PD") in terms of round-the-clock use. In addition, in the future, it is expected to introduce other UAVs into its composition.

Medium UAVs

The takeoff weight of medium-sized UAVs ranges from 100 to 300 kg. They are designed for use at ranges of 150 - 1000 km.

CJSC "ENIKS" in this class created a multi-purpose UAV M850 "Astra". Its main purpose is to be used as a reusable aerial target for training air defense calculations. However, it can also be used to perform work related to operational monitoring of the earth's surface. To do this, it is possible to install additional target equipment. The device is interesting in that it has an air launch, which can be carried out from the external suspension of an aircraft or helicopter. The layout is similar to the E22 / E22M “Berta” reusable aerial target, the new T04 long-range drone. The development of an apparatus designed for multispectral monitoring was started in 2006.

For the first time at the UVS-TECH-2007 exhibition, a new Berkut UAV for operational monitoring of territories and objects was demonstrated. The developer is OAO Tupolev. The device has a long flight time. Target load - TV and IR cameras, surveillance sensors, radio data transmission line and telemetry equipment. In 2007, a technical proposal for this UAV was developed.

The systems of the considered range also include the Irkut-200 remote sensing complex. The complex includes two UAVs, a ground control station and maintenance facilities. The payload is a TV camera, a thermal imaging camera, a radar station and a digital camera. The complex is currently under development and testing.

Recently NPO them. S.A. Lavochkina presented one of their UAV projects for remote sensing - La-225 Komar. During a long flight at a great distance, it is capable of transmitting video information in real time to a ground station. Start, landing and control is carried out from a mobile ground complex. The UAV is under development and test preparation. The prototype was demonstrated for the first time at MAKS-2007.

The firm "Istra-Aero" has developed at least two versions of UAVs with a mass of 120-130 kg. This is a multifunctional UAV and UAV EW ("Binom"). The last of them, according to the company, is undergoing flight tests as part of the electronic warfare complex. It is designed to interfere with missile defense radars or satellite navigation systems. Interference stations are supplied by Aviaconversion. Navigation is carried out without the use of GPS/GLONASS satellite systems. The project is developing, its creation is designed for a long time.

Medium-heavy UAVs

Medium-heavy UAVs have a range similar to the UAVs of the previous class, but have a slightly larger take-off weight - from 300 to 500 kg.

This class should include the "descendants" of the "Dan" aerial target, created by the Kazan Design Bureau "Sokol". This is the Dunham environmental monitoring complex, designed to solve the problems of reviewing, controlling and protecting objects of a large area and length above the earth and water surface. It consists of UAVs (one or more), a mobile ground control station, as well as ground support facilities. Control system - combined (software and radio command). The target equipment is an optical-electronic system with TV and thermal imaging channels. The project is currently in the system development phase. The same company offers a complex of unmanned aerial vehicles "Dan-Baruk", designed for conducting aerial reconnaissance. It is interesting in that it has the ability to strike at individual targets. The UAV has a long flight duration and altitude. The complex also includes one or more unmanned vehicles, a mobile ground control station, as well as ground support facilities. The payload is a sighting system, on-board weapons (two containers with self-aiming and cumulative fragmentation warheads). The project implementation is in the R&D stage.

Aviation remote control and inspection system with reconnaissance UAV "Hummingbird" was developed by M.A.K. It is designed to conduct reconnaissance in the interests of various types of troops in tactical and operational-tactical depth. The complex includes UAV-O (surveillance) and UAV-R (retransmitter), ground station for remote control, reception and processing of target information, station for driving and landing UAVs on the runway. The UAV is supposed to be equipped with various reconnaissance equipment - a television camera or thermal imaging equipment placed on a stabilized platform. Information is transmitted in real time. It is claimed that radio-absorbing coatings are used in the design of the UAV. The first flight was made in 2005.

A new development of the Research Institute "Kulon" is an aerial surveillance complex with the "Aist" UAV. The device, unlike other UAVs, has two piston engines with pulling propellers on the wing as part of the power plant. The ground station of the complex can not only process information coming from the UAV, but also provide information exchange with external consumers. The payload is a wide-angle dual-spectrum (TV / IR) line equipment, an onboard synthetic aperture radar, an onboard information recorder, a radio link. For detailed observation, a gyro-stabilized optical-electronic system consisting of combined TV and IR cameras and a laser rangefinder can be used. The military version has the designation "Julia". UAVs can be integrated into other complexes along with UAVs of a different type.

Recently, Transas and R.E.T. Kronstadt" announced their promising development- a complex with a heavy medium-altitude UAV of a long flight duration "Dozor-3". It is designed to collect information about extended and area objects located at a considerable distance from the airfield, in simple and difficult weather conditions, day and night. The UAV payload can include various sets of equipment, including forward and side-view video cameras, a thermal imager, forward and side-view synthetic aperture radar, automatic digital camera high resolution. The transfer of high-quality information will take place in real time. The complex will be equipped with a combined control system with autonomous control and remote piloting modes.

Heavy medium-range UAVs

This class includes UAVs with a flight weight of 500 kg or more, intended for use at medium ranges of 70-300 km.

In the "heavy" class, Irkut OJSC is developing the Irkut-850 remote sensing aviation complex. It is designed for both monitoring and cargo delivery. Its originality lies in the ability to perform both unmanned and manned flights, as it is created on the basis of the Stemme S10VT motor glider. The payload of the UAV is a TV camera, a thermal imaging camera, a radar station and a digital camera. The transition from a manned to a remotely controlled version does not require special work. Distinctive features - multitasking, the use of various payloads, low cost of operation and life cycle, autonomy. Tests completed, serial production prepared.

Another representative of this class is the Nart multifunctional aviation monitoring complex (A-03). The developer is Scientific and Production Center Antigrad-Avia LLC. It is also distinguished by the ability to deliver goods. Execution options - stationary or mobile. The set of surveillance equipment may be different. The complex is intended for use in the interests of Roshydromet, the Ministry of Emergency Situations, the Ministry of Natural Resources, law enforcement agencies, etc.

The Tu-243 UAV, which is part of the Reis-D photo and TV reconnaissance complex, can be attributed to the same class. It is a modernized version of the Tu-143 "Reis" UAV and differs from it in a completely updated composition of reconnaissance equipment, a new flight and navigation system, increased fuel capacity and some other features. The complex is in service with the Russian Air Force. Currently, further modernization of the UAV is proposed in the variants of the Reis-D-R reconnaissance aircraft and the Reis-D-U strike UAV. In the strike version, it can be equipped with a sighting system and an FCS. Armament can consist of two KMGU blocks inside the cargo compartment. In 2007, it was announced the intention to "reanimate" the project of a multi-purpose operational-tactical unmanned complex with Tu-300 Korshun UAVs, designed to solve a wide range of reconnaissance tasks, destroy ground targets and relay signals. Payload - electronic intelligence equipment, side-looking radar, cameras, infrared cameras or aircraft weapons on the external sling and in the internal compartment. Refinement should touch on the improvement of performance and the use of new equipment. It is planned to expand the range of weapons used to include conventional and guided bombs, depth charges and guided air-to-surface missiles.

Heavy UAVs of long flight duration

The category of long-duration unmanned aerial vehicles, which is quite in demand abroad, which includes the American UAVs Predator, Reaper, Global Hawk, Israeli UAVs Heron, Heron TP, is completely empty in our country. JSC Sukhoi Design Bureau periodically reports on the continuation of work on a number of long-range complexes of the Zond series. They were planned to be used for monitoring in the radar and optoelectronic ranges, as well as for solving ATC problems and relaying communication channels. However, apparently, these projects are being carried out in a sluggish mode and the prospects for their implementation are rather vague.

Unmanned combat aircraft (UBS)

Currently, the world is actively working on the creation of promising UAVs that have the ability to carry weapons on board and are designed to strike at ground and surface stationary and mobile targets in the face of strong opposition from enemy air defense forces. They are characterized by a range of about 1500 km and a mass of 1500 kg. To date, two projects are presented in Russia in the BBS class.

So, JSC "OKB im. A.S. Yakovleva" is working on a unified family of heavy UAVs "Breakthrough". It widely uses units and systems of the Yak-130 combat training aircraft. As part of the family being developed, it is planned to create a strike UAV "Breakthrough-U". The device is planned to be made according to the inconspicuous “flying wing” scheme with internal placement of the combat load.

Another project in this category is the Skat BBS of the Russian MiG Aircraft Corporation. In 2007, a full-size mock-up of this BBS was demonstrated. This promising heavy combat UAV is also made according to the inconspicuous "flying wing" scheme without a tail unit with an overhead air intake. The weapon is placed in the internal compartments of the apparatus.

Conclusion

Approximately half of the existing and planned UAV systems in Russia belong to the first categories, that is, to the lightest ones. This is due to the fact that the development of these devices requires the least financial investment.

The filling of the last two categories is rather conditional. As noted above, the niche of heavy long-duration UAVs is practically empty. Perhaps this circumstance prompted our military to pay attention to the development of foreign companies. As for combat UAVs, their creation is a matter of an even more distant future.

Multi-purpose unmanned aerial vehicle(UAV) refers to aviation technology, in particular to vertical takeoff and landing unmanned aerial vehicles. The objective of the utility model is to increase the stability margin and expand the technical characteristics. The technical result that can be obtained by using the utility model is to expand the range of application of a multi-purpose UAV by placing special equipment, including for the evacuation of victims from an area of ​​military or natural disasters, on the surface of the carrier wing. The task is achieved in that the multi-purpose unmanned aerial vehicle is a cantilever wing, including a control system, a propulsion system consisting of four rotary engines located outside the hull, as well as a payload. At the same time, systems of leveling, coordinate measuring and emergency manual control of the operation of rotary engines, consisting of control units and amplifying-converting devices associated with rotary engines and which evenly occupy the entire volume of the cantilever wing, are additionally introduced into the multi-purpose UAV, and the emergency manual control system organs are placed on its surface. The main advantages of an unmanned aerial vehicle with four rotary engines are: the ability to place any special equipment on the outer surface of the wing of a multi-purpose UAV, the ability to implement six modes of operation of a multi-purpose UAV, the ability to take off and land a multi-purpose UAV on any hard surface, providing a hover mode over any hard-to-reach terrain ( water, swamp, sand, mountains, forest, ravine, etc.), the ability to automatically maintain a given position by a multi-purpose UAV on the trajectory and in the process of performing work in the “Hover” mode, as well as increased reliability due to the presence of four engines at once. 3 ill.

The utility model relates to aviation technology, in particular to vertical takeoff and landing unmanned aerial vehicles (UAVs).

AT recent times interest has increased in the use of unmanned aerial vehicles for solving a variety of tasks, the implementation of which by manned aerial vehicles is inappropriate for various reasons.

The main areas of use of UAVs include:

Remote monitoring of the environment with automatic sampling of environmental elements from hard-to-reach places with visual control of measurements and sampling sites, as well as their delivery to the place of analysis;

High efficiency and effectiveness of search and rescue operations (the state of objects and the extent of destruction, dangerous zones and fires, accidents, natural disasters, man-made disasters and identifying victims in them);

Monitoring of sea and river highways and reservoirs (detection of poaching on them), environmental monitoring and control of facilities and routes for the production, extraction and transportation of electrical energy, natural gas, crude oil and products of its processing, hazardous chemicals and other substances;

Continuous and covert reconnaissance (military, radiation, chemical, biological) in real time and visual transmission of data to the operator's monitor;

Prevention of attempts to carry out terrorist acts at nuclear power plants, hydroelectric power plants, thermal power plants, radiation, chemical and biological and other hazardous facilities (the consequences of which can be comparable to the use of weapons of mass destruction), as well as the detection and prevention of attempts to steal natural gas, crude oil, oil products;

Patrol (land and water) borders, military, administrative, economic objects, large industrial enterprises with hazardous production, monitoring of strategic (railway and road) transport routes, monitoring of mobile objects and population groups, control and security during mass events (at stadiums, squares, summits, olympiads, etc.) using (according to target designation or directly from UAVs) non-lethal deterrents;

Direct participation in the fight against terrorists, as well as participation in hostilities and military conflicts;

Covert patrolling and protection of the territory of important military facilities, target acquisition and / or target designation, data collection, communication and data transmission, launching decoys, escorting military and dangerous goods, as well as targeting missiles, guided warheads and rockets in the final section of the flight path ;

Geological research, remote monitoring of volcanic or seismic activity;

Notification of the occurrence and development of accidents, natural disasters or dangerous situations in controlled areas, identification of the operational situation and the presence of victims in criminogenic places (zones closed to access, places where crimes are committed), as well as from places of chemical contamination, etc.

Helicopter UAV designs are widely used.

For example, patent 2021165 dated 10/15/1994 "Method of controlling a remotely piloted vehicle and a control system for its implementation", IPC B64C 29/00, B64C 15/00. However, most of them have the following disadvantages:

With a large specific load, the flow from the propeller will be so strong that it will not allow working under the main rotor;

High fuel consumption;

Slow movement speed in the horizontal direction.

Partially, these shortcomings are eliminated in the "screw in the ring" scheme. However, for this type of UAV, a characteristic disadvantage is a large aerodynamic drag due to the placement of a large amount of special equipment, which leads to a decrease in the UAV flight speed. For example, "Vertical takeoff and landing aircraft" according to patent 2089458 dated September 10, 1997, IPC V64C 29/00.

Partially, these shortcomings are eliminated in an unmanned aerial vehicle according to patent 2288140 dated November 27, 2006, IPC V64C 39/00. It contains a cantilever wing equipped with aerodynamic controls, vertical tail, engine nacelle and one engine with a propeller. The engine is installed in the engine nacelle. The unmanned aerial vehicle is made according to the fuselageless aerodynamic scheme "flying wing".

However, one of the disadvantages of this engine is the low margin of static stability, which leads to its unstable position during takeoff, when the stabilizer is still ineffective. In addition, not all UAVs can be used.

These shortcomings can be eliminated in an unmanned aerial vehicle with two rotary engines (RF patent for PM 69839, 2008).

The disadvantage of the UAV is the unstable position during takeoff and in the case of the influence of disturbing factors.

The closest in principle of operation and technical essence to the claimed device is an unmanned aerial vehicle with four rotary engines (RF patent for PM 71960, 2008).

However, this patent does not completely eliminate the unstable position of the UAV both during takeoff and in the case of exposure to disturbing factors. The lack of synchronism in the operation of the engines can lead to the instability of the UAV, and this, in turn, to the loss of its performance.

The objective of the utility model is to increase the stability margin of the UAV during engine operation and to expand the range of its technical characteristics.

The technical result that can be obtained by using the utility model is to expand the range of UAVs by placing special equipment, including for the evacuation of victims from the area of ​​military or natural disasters on the surface of the cantilever wing.

The task is achieved in that the multi-purpose unmanned aerial vehicle is a cantilever wing, including a control system, a propulsion system consisting of four rotary engines located outside the hull, as well as a payload. Moreover, systems of leveling, coordinate measuring and emergency manual control of the operation of rotary engines are additionally introduced into it, consisting of control units and amplifying-converting devices associated with rotary engines and which evenly occupy the entire volume of the cantilever wing, and the organs of the emergency manual control system are placed on its surface. , while the front rotary motors are located closer to the geometric axis of the apparatus than the rear ones at a distance of at least one outer diameter of the motor.

Figure 1 shows a top view of a multi-purpose UAV, figure 2 is a side view and figure 3 is a block control device for the operation of rotary engines, where:

1 - cantilever wing;

2 - rotary engines;

3 - nose cone;

4 - lifting screw;

6 - cylindrical shell;

7 - engine mounting rods;

8 - wheels;

9 - control system;

10 - block of the emergency manual control system;

11 - leveling system;

12 - device for comparing the input signals of the leveling system;

13 - unit for converting the leveling system;

14 - coordinate measuring system;

15 - device for comparing the input signals of the coordinate measuring system;

16 - unit for converting the coordinate measuring system;

17 - amplifying-converting devices for leveling and coordinate measuring systems;

18 - device for comparing the input signals of the emergency manual control system;

19 - block for converting signals of the emergency manual control system;

20 - amplifying-converting device of the block of the emergency manual control system.

The multi-purpose unmanned aerial vehicle is made according to the "flying wing" fuselageless aerodynamic configuration. It consists of the following main elements: cantilever wing 1, rotary engines 2.

Cantilever wing 1 is designed to accommodate and fasten all the components of the apparatus. A nose cone 3 is installed in the front part of the apparatus, inside which elements of functionally interconnected electronic surveillance equipment, a transceiver unit, a transceiver antenna, a flight navigation system, etc. are placed.

The front part of the cantilever wing 1 is shaped to provide minimal aerodynamic drag. Inside the cantilever wing 1 is fixed on-board equipment (control system, leveling system, coordinate measurement system, power supplies). Special equipment, depending on the purpose of the multi-purpose UAV, can be different and is mounted on the outer surface. For example, for environmental purposes, equipment can be represented by samplers, gas analyzers, etc.

The propulsion system consists of four swivel motors 2, located symmetrically about the axis of the apparatus and outside the housing. Rotary motors 2 operate independently from a single control system and have 3 degrees of freedom of rotation. Each engine 2 consists of a propeller 4 fixed by means of a skeg 5 to a cylindrical shell 6, which is connected to the body of the multi-purpose UAV by means of rods 7.

Rotary motors 2 are designed to create the thrust necessary to move the multi-purpose UAV along a given flight path, as well as for vertical takeoff and landing of the vehicle.

In this case, the entire payload completely occupies the entire free volume of the cantilever wing 1.

The multi-purpose UAV in the initial state can be installed or move forward on a solid surface with the help of wheels 8. At the starting position, a ground remote control point for an unmanned aerial vehicle is deployed. In addition, pre-flight preparation of a multi-purpose UAV is being carried out.

The multi-purpose UAV can operate in the following modes: launch, landing, hover, flight, operating mode and manual mode.

Mode - "Start". The launch of a multi-purpose UAV can be carried out both from a mobile and from a stationary launch facility. In addition, it can be carried out both by the commands of the operator located in the area of ​​the control point, and be stored in the memory of the control system 9, as well as from the board of a multi-purpose UAV. In the first case, the launch is carried out from a launcher, and in the second case, it is launched autonomously from the site of a tragedy, disaster, infection, etc.

When you start a multipurpose UAV engines 2 start their work. As soon as the total thrust generated by the engines 2 exceeds the starting weight of the multi-purpose UAV, it breaks away from the surface and begins to climb to the desired height. Since the center of mass of the multi-purpose UAV is located between the geometric axes of the shafts of the lifting motors 2, the device is statically stable during the lifting process. It should be noted that in this case, the launch of the UAV does not require the presence of a runway.

Mode - "Landing". The landing of the multi-purpose UAV is carried out when the lifting engines 2 are switched to the takeoff and landing mode. In this case, the UAV lands smoothly. It should be noted that for the landing of a multi-purpose UAV does not require the presence of a runway (figure 1 and figure 2).

Mode - "Hover". If necessary, a multi-purpose UAV can hover in the air over a given point, for example, for observation, reconnaissance, etc. To do this, rotary engines 2 operate in such a way that the multi-purpose UAV is located above a given point in space. At the same time, the control system and the coordinate measuring system work, and, if necessary, the leveling system. In addition, an emergency can be used to reach a given trajectory point. manual system management. Then, on command, rotary motors 2 are transferred to the hovering mode, i.e. create only vertically directed thrust. In this case, the total thrust generated by the engines 2 must be equal to the starting weight of the multi-purpose UAV (figure 1, figure 2).

Mode - "Working mode". This mode is used in the case of loading and unloading operations carried out with the help of a multi-purpose UAV and when it is in the "Hovering" state. For this, the multi-purpose UAV, according to the commands of the coordinate measuring system, occupies the required coordinates of the place of work performed: x, y at a given height.

However, the execution of work, for example, loading a multi-purpose UAV is accompanied by a violation of the coordinates and height of its location, as well as leveling (figure 3). For example, in the process of performing any work using a UAV or the impact of external disturbing factors on it, a deviation from its horizontal position occurs. In this case, the current values ​​of the appeared angles of deviations from the horizontal position in different planes are received from the corresponding leveling sensors in the longitudinal and transverse directions. These values ​​in the device for comparing input signals 12 of the leveling system 11 are compared with the given values ​​of the parameters x, y, H, which generate an error signal. This signal subsequently enters the control unit of the leveling system 13, and then, through the amplifying-converting devices 17, it enters all rotary motors 2. In this case, the motors turn and change the number of revolutions, and, consequently, the thrust in such a way that the multi-purpose UAV receives horizontal position in space.

For example, in the process of performing any work using a multi-purpose UAV or the impact of external disturbing factors on it, the current values ​​of the parameters x, y, H are received from the corresponding height and coordinate sensors. These values ​​are compared with the specified the values ​​of the parameters x, y, H, which generate the error signal. This signal subsequently enters the control unit of the coordinate measuring system 16, then, through the amplifying-converting devices 17, it enters all rotary motors 2. In this case, the motors turn and change the number of revolutions, and, consequently, the thrust in such a way as to reduce the resulting mismatch between current and set values ​​of the parameters x, y, H to zero. This corresponds to the UAV occupying the previous position in space. Moreover, the thrust generated by rotary engines 2 constantly balances the variable weight of the multi-purpose UAV caused by its loading (unloading). This corresponds to the constant position of the multi-purpose UAV in space, regardless of the nature of the work performed, as well as the influence of disturbing factors.

Mode - "Flight". At the command of the control system rotary engines 2 are transferred to the horizontal flight mode.

The flight of a multi-purpose UAV can take place in accordance with the flight task both according to a given program and according to radio commands transmitted by the operator from a ground remote control station. In this case, the ground remote control station generates commands transmitted over a radio channel to the onboard radio-electronic equipment installed on the multi-purpose UAV. These commands are designed to control both the flight of the aircraft and the remote survey of the area and the transmission of video and telemetry information through the transceiver antenna to the ground remote control station.

To rotate the multi-purpose UAV, a command is sent from the control system to the rotary motors 2, which directly carry out its rotation. In this case, the change in the position of the multi-purpose UAV occurs in all angles: pitch, yaw and rotation (roll).

The change in flight speed V is carried out by changing the number of revolutions of the motor shafts 2. In the case of a decrease in the flight speed of the multi-purpose UAV or the implementation of a thrust reverser, it is necessary either to reduce the number of revolutions of the motor shaft or to rotate it in the opposite direction with a given angular velocity. If it is necessary to set a given height H rotary engines 2 change the pitch angle .

Since the front rotary engines are located closer to the geometrical axis of the vehicle than the rear ones at a distance of at least one outer diameter of the engine, their operation will not affect the performance of the rear engines during the flight of the UAV.

The developed multi-purpose UAV is economical. This is achieved by its shape, which reduces its aerodynamic drag. Cantilever wing 1 allows the UAV to glide.

Manual mode is an emergency and is used in emergency cases, for example, in the process of evacuating a victim from an area of ​​military or natural disasters. In this case, the victim can partially or completely use the manual controls 10 located on the upper plane of the cantilever wing or use the ability to maintain automatic operation. In the latter case, the operation of the rotary motor controls will be similar to the modes described above.

At the same time, in the device for comparing input signals 18 of the emergency manual control system 10, the current values ​​of the coordinates x, y, flight altitude H, flight speed V and UAV angular deviations , , , are compared, which generate a mismatch signal. This signal subsequently enters the control unit of the emergency manual control system 19, then through the amplifying-converting devices 20 it enters all rotary motors 2. In this case, the motors turn and change the number of revolutions, and, consequently, the thrust in such a way as to reduce the resulting mismatch between the current and set values ​​of the above parameters to zero. This corresponds to the occupation by the multi-purpose UAV of the required position in space.

Unmanned aerial vehicles with four rotary engines can be made in various sizes and for various federal agencies and departments, which makes it possible to call it multi-purpose.

The main advantages of the multi-purpose 4-motor unmanned aerial vehicle are:

The possibility of placing various special equipment on the outer surface of the wing of a multi-purpose UAV;

The possibility of implementing six modes of operation of a multi-purpose UAV;

The ability to take off and land a multi-purpose UAV on any hard surface, as well as providing a hover mode over any hard-to-reach terrain (water, swamp, sand, mountains, forest, ravine, etc.);

Possibility to automatically maintain the predetermined position of the multi-purpose UAV on the trajectory and in the process of performing work in the “Hover” mode, as well as its leveling;

The possibility of evacuating victims from the area of ​​military operations, fire, flood and other hard-to-reach places;

Increased reliability due to the presence of four engines at once.

Multi-purpose unmanned aerial vehicle, consisting of a cantilever wing, a control system, a propulsion system consisting of four rotary motors located outside its body, and a payload, characterized in that it additionally includes systems for leveling, coordinate measurement and emergency manual control of the rotary motors , consisting of control units and amplifying-converting devices associated with rotary engines and evenly occupying the entire volume of the cantilever wing, and the emergency manual control system organs are located on its surface, while the front rotary engines are located closer to the geometric axis of the apparatus than the rear ones, on distance of at least one outer diameter of the motor.