Algorithm for Control of Unmanned Aerial Vehicles in the Process of Visual Tracking of Objects with a Variable Movement’s Trajectory

The purpose of the research was to create an algorithm for determining and correcting output parameters navigation module flight-navigation complex unmanned aerial vehicles which provides control aviation gyro-stabilized platform with a multispectral optoelectronic system during flight tracking various objects observation. Principles technical vision located on vehicle two-degree possibility full turn around two perpendicular axes along course pitch are considered. Stability observation at distance up 10000 m is ensured by use including rangefinder, thermal imaging visual channels. Analysis object method its support carried out. An proposed integrating Global Navigation Satellite System strapdown inertial based extended Kalman filter includes stages calculations, extrapolation (prediction) correction. Specialized software in FreeRTOS v9.0 environment has been developed obtain solution: latitude, longitude altitude WGS- 84 coordinate system, as well pitch, heading roll angles; north, east vertical components velocities system; longitudinal, transverse free accelerations angular associated data from receiving measuring 6-axis MEMS sensor STIM 300.