METHOD FOR DETERMINING THE INSTANTANEOUS POSITION OF THE DRIFT POINT OF AN UNMANNED AERIAL VEHICLE FROM INFORMATION OF AN ANGLE MEASUREMENT CHANNEL Russian patent published in 2020 - IPC G01S13/52 G05D1/02 G06F17/10 G06F17/18 

FIELD: data processing.

SUBSTANCE: invention relates to the field of secondary digital signal processing and can be used in television, radar, infrared information systems (IS) of unmanned aerial vehicles (UAV) to determine the position of their slip point relative to the selected guidance object according to only the goniometric channel of the control system, including at minimum distances between UAV and object, as well as at blinding UAV IS. Method comprises recognizing a sector of finding a UAV instant miss point with simultaneous formation of reliable unconditional estimates of the position of the line of sight of the UAV on the object along the azimuth and elevation angle, as well as components of angular velocity of this line of sight, by means of adaptive double-stage parametric approximation (ADPA) of unknown probability density of phase coordinates of an optimum mixture of a priori predetermined distribution laws by taking into account non-linearities in dynamics of phase coordinates and their measurements and taking into account statistical dependence of probabilities of changing sectors of location of instantaneous miss of UAV from phase coordinates based on measurements in goniometer of position of line of sight of UAV on object by azimuth and elevation angle, generating boundaries of sectors of the object plane of the guidance object, processing measurements of a goniometer and indications of a sector indicator in a multichannel filter operating in accordance with a procedure for quasi-optimal combined filtration of phase coordinates and recognition of the condition of the conditionally Markov structure of a nonlinear stochastic dynamic system when observing without delay on the basis of the new ADPA method of unknown probability densities with a mixture of a priori predetermined distribution laws, based on a priori data in form of a mathematical model (MM) of the "UAV – guidance object – information system - indicator" system with a random discontinuous structure, which includes a nonlinear model of the UAV line of sight position dynamics on the object by the azimuth and the elevation angle, as well as the angular velocity components of that line of sight, non-linear model of measurements of these phase coordinates in IS, model of change of sector of location of point of instantaneous miss of UAV, model of indicator of sector of location of point of instant miss of UAV, uncontrolled random perturbations and interference model, under initial conditions, with a plurality of alternative types of approximating functions, and at the output of which estimates of the type of the approximating function approximating the mixture of a priori given functions are formed, sector of finding UAV instant miss point, unconditional mathematical expectations of phase coordinates and covariance error matrices of their estimation.

EFFECT: high reliability of recognizing a sector of finding a UAV instant miss point in the image plane of a guidance object and estimating phase coordinates of mutual movement of the object and UAV.

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