METHOD OF DETERMINATING ANGULAR ORIENTATION OF UNMANNED FLYING VEHICLE Russian patent published in 2017 - IPC G05D1/08 G01C9/06 

FIELD: measuring equipment.

SUBSTANCE: method is based on measuring the infrared background around an unmanned flying vehicle with four infrared sensors located on a printed wiring board in the same plane. The sensors are grouped in pairs so that their optical axis lie in one plane, are parallel and directed in the opposite direction. The sensors are installed in such a way that the elements of the flying vehicle structure do not fall within their field of vision. For each sensor pair, a relative difference signal is calculated, then, on the basis of the resulting difference signals, the elevation angles of the sensor pairs are determined, then the pitch and roll angles are calculated from the following dependencies:

where θ - pitch angle, γ - heel angle, h_B1 - the elevation angle of the first pair of infrared sensors, α_B1 - an angle between the first pair of infrared sensors and the longitudinal axis of the fuselage of an unmanned fluing vehicle, h_B2 ^_ the elevation angle of the second pair of infrared sensors, α_B2 - the angle between the second pair of infrared sensors and the longitudinal axis of the fuselage of an unmanned fluing vehicle.

EFFECT: measurement accuracy increase.

2 dwg