Unmanned aerial vehicles - fire reconnaissance. Distributed inertial system

A distinction must be made between demonstration flights, recreational flights or sporting competitions and aviation works. To perform the first (as well as the second), it is enough to register your UAV in Federal agency air transport. In case of visual observations (video recording), the UAV owner should apply for permission from the authorities local administration(in case of flights to populated areas) and to zonal air traffic control centers (in other cases). With aerial photography, everything is much more complicated.

The following laws define the existing legislation in this regard: Air Code RF, Federal rules use airspace RF, instructions for the development, establishment, introduction and removal of temporary and local regimes, as well as short-term restrictions, which was approved by order of the Ministry of Transport of the Russian Federation No. 171 dated 06.27.11, and the Report Card on the movement of Aircraft in the Russian Federation.

Rice. 1. Structure unified system air traffic organization of the Russian Federation

The structure of the unified air traffic control system divides the territory of the Russian Federation into zones of responsibility of air traffic authorities, which carry out permissions and control over the use of airspace by all air traffic participants (Fig. 1).

In the case of UAV flights, airspace permission is required to ensure safety.

Permission is obtained by introducing local or temporary regimes for limiting the airborne water supply (Fig. 2).

Rice. 2. Flight restriction regimes

What is the main difference between these modes? The temporary mode is used in airspace outside international zones air lines, permanent airlines, airfields, airports. Submissions for local or temporary regime are submitted to the zonal center or the main center of the Unified Control and Internal Affairs System - no less than 5 days (to the main one) or 3 days (to the zonal one).

The structure of applications for permission to use airspace is as follows (Fig. 3):

Rice. 3. Application structure

After submitting a submission to the main center or zonal center, you will receive a mode number. Then, the day before the AFS, a daily work plan is drawn up, which indicates the type of aircraft, its characteristics, the name of the person responsible at the launch site for the survey and his contact information, flight time, flight altitude and other parameters. Two hours before the flight, the director and pilot-operator calls the dispatcher, reporting the start of work. Upon completion, he calls the operator again, reporting the completion of the work.

To perform aerial photography work, it is necessary to obtain at least three main documents:

Filming permission General Staff armed forces of the Russian Federation;

Permission to film the operational department of the military district headquarters in whose area of ​​responsibility the object being filmed is located;

Permission territorial bodies FSB security;

Additionally:

Permission from the local city administration in case of flights over populated areas;

You must also have a license to work using information that constitutes state secret.

When taking aerial photography, there are also such subtleties as closed territories, prohibited zones, border strips - additional permits are required for APS in these places.

The next step after the end of the AFS is the transfer of the received materials for control review by a military censor in the operational department of the headquarters of the military district. Without the conclusion of a military censor, the use of materials in open access forbidden.

This is the entire list of legal aspects of aerial photography. Perhaps these are not all the answers to your questions, in which case, here they are:

Question:How long does it take on average to get approval from all authorities?

Answer:As a rule, General Staff permits are obtained in 10-15 days. It takes another month to obtain additional standard permits. That is, on average, the approval time is 1.5-2 months; reviewing materials can take from a week to a couple of months.

IN:Is it necessary to obtain all permissions each time in case of e.g. NDVI- filming on your fields by an agronomist for 1 season?

ABOUT:The obtained permits are valid for two years, however, it is unlikely that you will simply receive a license to work with information that constitutes a state secret. Aerovisual observation is suitable for agronomists if it is necessary to periodically inspect fields, however, video recording will not allow calculation NDVI. The solution is to use API services from organizations that have such a license.

IN:The receipt of AFS materials by the military makes them secret by default with all the ensuing requirements, what to do in this case?

ABOUT:To do this, the flash drive or magnetic media of the camera must first be registered with a secret agency. The pilot operator or responsible representative must have the appropriate clearance. Before flights, he receives the appropriate carrier from this authority, in accordance with the instructions, performs all actions during the AFS or is present during their execution, and upon completion, hands the carrier back, sending it by special mail for control viewing to the headquarters of the Military District, and only after that receives a conclusion or certificate of control viewing, in accordance with which further work with these materials is carried out. The magnetic media still remains registered with this authority and is considered secret.

IN:How is regular shooting done, for example once a week?

ABOUT:The General Staff permit is issued once and is valid for 2 years, and the military censor during control viewing may ask the question: “On what basis, having received one permit, do you submit materials for viewing several times?” This will require the censor to justify the need for multiple works.

IN:Who and how monitors the implementation of approvals?

ABOUT:Air traffic control authorities and the Ministry of Defense. In case of violation of laws, enterprises can suspend and revoke their licenses and fine them with confiscation of the UAV.

IN:Is it possible to get permission to one-time job, for example, through your company?

ABOUT:GC "Geoscan" can obtain such permits and perform work on AFS, however, the permit and the right to carry out work are issued specifically to GC "Geoscan". A situation is possible in which the company is provided with an operator and a UAV from the outside, and the representative provides aviation services, but this is a topic for another discussion.

The invention relates to the field of aviation technology. An unmanned aircraft complex (UAS) without an airfield base contains an unmanned aerial vehicle (UAV) and a launch ground station containing a mobile platform and installed on it power plant and a UAV flight control unit. The UAV is made in the form of a two-cantilever wing, with propellers installed on rotating consoles. The consoles are designed to rotate 180° relative to the longitudinal axis of the wing around the payload body. On the platform of the launch ground station there is a vertical transmission shaft connected to a gearbox and a launch device mounted using three supports. The starting device contains means for transmitting rotation from the transmission shaft to the UAV, as well as means for fixing and unlocking it at a given speed of rotation of the transmission shaft. The supports of the launching device are made telescopic with independent adjustment of their length from the control unit for pre-flight correction of the spatial orientation of the unmanned aerial vehicle. The LHC is equipped with a pre-flight automatic static balancing system for the unmanned aerial vehicle. An increase in the range and duration of action, as well as the efficiency of an unmanned aerial vehicle, is achieved. 3 salary f-ly, 4 ill.

Drawings for RF patent 2403182

The invention relates to unmanned aerial vehicles (UAVs) used as part of a non-airfield-based mobile unmanned aircraft complex (UAS).

Unmanned aerial vehicles are known, for example, the Eagle Eye of the American company Bell (www janes com) of the V-22 Osprey type with rotary propellers that allow the aircraft to take off like a helicopter and then switch to airplane flight mode.

The disadvantage of this type aircraft is the limitation of the range, altitude and time of its operation due to the use of limited aircraft for lifting and flying internal sources energy, such as fuel on board.

An unmanned aerial complex from Israel Aerospace Industries LTD is known (WO 2007/141795 A1, B64C 27/20, 12/13/2007 - the closest analogue), including a ground station, lifting platform, carrying a payload and a propulsion system of four electrically driven fans that provide vertical lift and allow the platform to be maintained at a given height in hover mode without aerodynamic lifting surfaces such as wings. The complex also includes a tether that operatively connects the ground station with the platform, which provides electrical communication between the platform and the ground station.

Use by movers external source energy installed on a mobile platform, as well as the inability to move independently outside of a connection to a ground station - limit functionality such an unmanned aircraft complex. In particular, the lifting height of the platform is limited by the length of the harness, which is dictated, among other things, by the mass of the cable entering it.

The objective of the claimed invention is to increase the efficiency of an unmanned aerial vehicle, expand the controlled area, the range of its operation and the duration of its operation through the use of an external energy source (installed on a mobile platform) to accumulate kinetic energy and ensure a “jump take-off” of an unmanned aerial vehicle to a given height and its transition to airplane mode of operation.

The problem is solved due to the fact that in an unmanned aircraft complex containing an unmanned aerial vehicle, including propulsors and a body for a payload, and a launch ground station containing a mobile platform, for example a wheeled one, and a power plant and a flight control unit of the unmanned aerial vehicle installed on it , according to the invention, the unmanned aerial vehicle is made in the form of a two-console wing, on the consoles of which propulsors are installed, and the consoles are made with the possibility of rotating them 180° relative to the longitudinal axis of the wing around the payload housing, for example, spherical, and on the platform of the launch ground station a vertical transmission is installed a shaft connected to the gearbox, and a starting device, which is installed using three supports and contains means for transmitting rotation from the transmission shaft to the unmanned aerial vehicle, as well as means for fixing and unlocking it relative to the starting device.

In particular, the starting device can be equipped with two brackets with grips rigidly connected to the transmission shaft, interacting with the response power units of the unmanned aerial vehicle and made with the possibility of their fixation and release at a given speed of rotation of the transmission shaft.

The supports of the launching device are made telescopic with independent adjustment of their length from the control unit for pre-flight correction of the spatial orientation of the unmanned aerial vehicle.

The unmanned aircraft complex is also equipped with a pre-flight automatic static balancing system for the unmanned aerial vehicle.

The use of a launch device to lift an unmanned aerial vehicle by "jump take-off" (a term used, for example, in relation to a gyroplane) from an external power source provides it with a reserve of kinetic energy, which is used to lift it to a given altitude and to switch to airplane mode of operation . The design of an unmanned aerial vehicle in the form of a wing, the consoles of which, together with the propulsors on them, have the ability to rotate 180 degrees relative to the longitudinal axis of the wing, provides the unmanned aerial vehicle with various operating modes - from take-off mode, which ensures its spin-up using a launch ground station, to airplane mode , providing autonomous long flight. Propulsors can be made with turbojet, turboprop, piston or electric engines.

The vertical transmission shaft, which transmits rotation from the brackets of the starting device to the unmanned aerial vehicle with fixed grips, allows it to spin up to a given speed of rotation of the transmission shaft, providing it with a reserve of kinetic energy. When the bracket grips are released, for example, at a given speed of rotation of the transmission shaft, the unmanned aerial vehicle performs a “jump takeoff” to the required design height. When the unmanned aerial vehicle is spinning up on the transmission shaft of the launch ground station, its wing consoles with propulsors are in a position that ensures its rotation. The possibility of automatic pre-flight correction of the starting spatial orientation of an unmanned aerial vehicle, as well as the possibility of pre-flight automatic static balancing of it (remotely from the launch ground station or according to a given program) are aimed at ensuring the accuracy and safety of its take-off.

The flight control unit, located at the launch ground station, provides remote control of the operation of the unmanned aerial vehicle, in particular, it supplies signals to change the relative position of the consoles with the propulsors, both for operation in aircraft mode, and in the opposite position - for operation in the launch mode. The unmanned aircraft complex is equipped with a pre-flight automatic static balancing system for the unmanned aerial vehicle, performed, for example, using a well-known system of moving cargo.

The invention is illustrated by drawings, which show:

Figure 1 - unmanned aircraft complex with an unmanned aerial vehicle (with turboprop engines) at the launch position of the wing consoles;

Figure 2 - unmanned aircraft complex with an unmanned aerial vehicle (with turbojet engines) at the launch position of the wing consoles;

Figure 3 - unmanned aerial vehicle with the wing consoles in position corresponding to the aircraft flight mode;

Figure 4 is a schematic representation of the various stages of bringing an unmanned aerial vehicle into airplane flight mode,

The unmanned aircraft complex consists of the actual unmanned aerial vehicle 1 and the launch ground station 2 (Fig. 1), which serves to ensure the “jump take-off” of the unmanned aerial vehicle and remote control of its flight.

The unmanned aerial vehicle 1 is made in the form of a two-cantilever wing, on the consoles 3 and 4 of which propulsors 5 and 6 are respectively installed. Propulsors 5 and 6 can be made, for example, in the form of turboshaft engines with propellers 7 and 8 with variable blade angles. In addition, they may have stabilizing surfaces 9 and rudders and 10 for controlling the flight of the unmanned aerial vehicle 1 (Figs. 1 and 2).

The unmanned aerial vehicle 1 has a payload housing 11, made, for example, spherical in shape to reduce drag during launch. The payload housing 11 is designed to accommodate autonomous onboard power supplies, fuel for engines, as well as various equipment for receiving, controlling and transmitting various information to the ground.

Consoles 3 and 4 are profiled along the entire length to create lift during horizontal flight of the UAV, and also have the ability to rotate 180 degrees relative to the longitudinal axis of the wing.

The starting ground station 2 is made in the form of a platform 12 installed on vehicle, for example, by road, rail or water. On the platform 12 there is a flight control unit 13 of the unmanned aerial vehicle, an energy unit 14, as well as a gearbox 15 with a vertical transmission shaft 16 and a starting device 17, which is installed using three telescopic supports 18.

The starting device 17 is equipped with several brackets 19 rigidly connected to the transmission shaft 16 with grips at the ends (not shown), interacting with the response power units of the unmanned aerial vehicle 1 to transmit rotation from the transmission shaft 16 to it. The grips are made quick-acting, with the possibility of their fixation and instant release relative to the starting device 17 at a given speed of rotation of the transmission shaft 15 and are connected to the control unit 13.

Telescopic supports 18 are made with independent adjustment of their length from the control unit 13 for pre-flight correction of the spatial orientation of the unmanned aerial vehicle 1.

The unmanned aircraft complex is equipped with a pre-flight automatic static balancing system for the unmanned aerial vehicle 1, which can be performed, for example, by internal system changing its alignment, for example, by pumping fuel or changing the position of the payload in the housing 11.

The unmanned aircraft complex launches the unmanned aerial vehicle (UAV) 1 as follows. The launch ground station 2 arrives at the launch site and deploys its platform 12. The UAV is installed on the launch device 17, connected to the transmission shaft 16, and the power attachment points of the UAV are connected to the grips on the brackets 19 of the launch device 17. Then the UAV 1 is brought to the launch position ( position A in Fig.4), in which the wing consoles 3 and 4 with the movers 5, 6 are rotated relative to each other by 180 degrees relative to the longitudinal axis of the wing. After this, using the control unit, the starting spatial position of the UAV is automatically corrected by independently adjusting the length of the telescopic supports 18 to carry out an accurate and safe launch. In addition, pre-flight automatic static balancing of the UAV is carried out.

Then the UAV is spun up using the transmission shaft 16 of the gearbox 15 of the ground power unit 14 of the starting ground station 2. When the specified design speed of the transmission shaft 16 is reached, the UAV flight control unit 13 sends a command to release the gripping units of the brackets 19. The kinetic energy accumulated by the UAV is converted into lifting force and allows him to carry out a “jump takeoff” to the calculated height ( positions A-D Fig.4). The flight control unit 13 at the moment of lift-off (positions A and B of Fig. 4) changes the pitch of the wing consoles 3, 4, giving the wing the properties of a main rotor.

In the process of exhausting the kinetic energy of the UAV, the control unit 13 carries out a transition mode with a “mutual” turn of the wing consoles 3, 4 to their position corresponding to the flight of the UAV “along the aircraft” ( positions V-D Fig.4).

When the UAV begins to fall (from position D of Fig. 4), the propulsors 5, 6 are turned on, and the UAV switches to aircraft flight mode (position D of Fig. 4) due to on-board energy sources. The UAV performs autonomous flight according to the program of the flight control unit 13 in airplane mode.

Performing a launch using the “jump take-off” effect allows you to significantly save on-board energy sources, which increases the duration of the UAV’s operation, its range and efficiency.

CLAIM

1. An unmanned aircraft complex containing an unmanned aerial vehicle, including propulsors and a body for a payload, and a launch ground station containing: a mobile platform, for example a wheeled one, and a power plant installed on it and a flight control unit of the unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is made in the form of a two-cantilever wing, on the consoles of which propulsors are installed, and the consoles are made with the possibility of rotating them 180° relative to the longitudinal axis of the wing around a payload housing, for example, spherical, and on the platform of the launch ground station a vertical transmission shaft is installed, connected with a gearbox, and a starting device, which is installed using three supports and contains means for transmitting rotation from the transmission shaft to the unmanned aerial vehicle, as well as means for fixing and unlocking it relative to the starting device.

2. The unmanned aircraft complex according to claim 1, characterized in that the starting device is equipped with brackets with grips rigidly connected to the transmission shaft, interacting with the response power units of the unmanned aerial vehicle and made with the ability to fix and unlock them at a given speed of rotation of the transmission shaft.

3. The unmanned aircraft complex according to claim 1, characterized in that the supports of the launching device are made telescopic with independent adjustment of their length from the control unit for pre-flight correction of the spatial orientation of the unmanned aerial vehicle.

4. The unmanned aircraft complex according to claim 1, characterized in that it is equipped with a system for pre-flight automatic static balancing of the unmanned aerial vehicle.

The invention relates to aircraft, in particular to unmanned aerial vehicles (UAVs). Technical result is to increase the efficiency of UAV control. For this purpose, a method of using unmanned aerial vehicles is proposed, based on their adaptation of flight modes, in which “n” UAVs are taken, where n>3, forming a so-called “whatnot” in flight, the first UAV is the leader, the second and third are slaves, and the leader The UAV occupies the lower altitude echelon, the second UAV is intermediate, the third is the upper one, the distance of the leading UAV from the earth's surface is determined by the safety of flight and the unconditional fulfillment of the assigned task, for example, for monitoring gas and oil pipelines, this height is approximately 50 m, the second UAV is higher than the leading one by 50 m, the third UAV is higher than the second by another 50 m, while the second UAV is a relay of data via a radio channel from the first UAV to the third UAV, which is also connected via a radio channel to the ground base control station, transmitting the received surveillance data of the slave UAV and receiving flight control commands or changes in the flight program, with the flight altitude of the third UAV ≈150 m and with the accepted length of the gas and oil pipeline between pumping stations, equal to 300 km, the upper third UAV is within line of sight with the ground base station, which allows it to maintain stable communication with it. 4 salary f-ly, 2 ill.

The invention relates to heavier-than-air aircraft, in particular to unmanned aerial vehicles (UAVs), and can be used for their use and control of UAVs of both aircraft and helicopter types.

As a result of the development of the global fuel and energy complex (FEC), the number and scale of facilities in this industry have reached a truly global level, and the complexity of the equipment and various specialized equipment operated on them has increased many times over. All this led not only to an increase in production, processing and transportation volumes natural sources energy - hydrocarbon raw materials, but also entailed a constant increase in the level of damage caused to industry and the environment as a result of accidents that inevitably occur in the fuel and energy complex various kinds. Moreover, it is extremely high degree The dependence of the national economies and societies of most countries of the world on the normal functioning of the fuel and energy complex has made its infrastructure one of the priority targets for attacks by terrorists and extremists.

The most vulnerable in this case are the elements of the product pipeline system - main oil and gas pipelines, compressor substations, gas distribution stations and crane platforms, as well as storage facilities, warehouses with equipment and other buildings, structures and facilities. Damage caused to such objects can lead to emergency situations, major economic damage and serious environmental pollution. Including those accompanied by human casualties.

In this regard, the need to ensure continuous monitoring of fuel and energy facilities is constantly growing. However, systems of this type used today - ground, aviation and space - do not meet the needs of potential customers in in full on a number of parameters. In particular, in terms of continuity of observation and resolution of on-board equipment.

According to experts, the tasks of diagnostics, security and protection of fuel and energy complex facilities can be completely solved by unmanned aircraft systems. It is modern unmanned aircraft systems (UAS), created on the basis of unmanned and pilot-unmanned aerial vehicles, that could well become an economically and technically acceptable means of monitoring ground objects over a fairly large area and at a great distance, and even for a very long time. Including - around the clock and in almost any climatic conditions.

All this imposes on UAVs specific requirements for their control systems, in particular for the stability and controllability subsystems, precise definition flight coordinates, continuous monitoring of the observed surface and transmission of this data to the ground.

An additional condition is the low cost of the UAV, including the control system, as well as operational reliability and low maintenance costs.

Israeli dual-use UAVs from Aeronautics are widely known; a large contract has now been signed for their supply to Russia.

Their shortcomings. Because Since these are dual-use UAVs, the requirements for frequency of use, service life and operational excellence cannot be effectively applied.

There is a well-known complex of on-board equipment for UAVs manufactured by TRANSAS, see www.TRANSAS.RU, which includes: flight and navigation equipment consisting of: satellite navigation-inertial system “BISNS-11”, magnetic heading sensor, air signal system, ultrasonic altimeter;

automatic control system, including: autopilot, payload control system, engine control unit;

radio communications equipment, including: a command radio link and a radio data link;

power supply system, including: block batteries, electric generator, voltage stabilizer and current rectifier.

Disadvantages: with acceptable size-mass characteristics (GMC), the accuracy is not very high, for example, issuing a heading angle = 5°, coordinates = 20 m, accumulation of coordinate determination error = 12 m during the flight. Further, there is a fairly decent weight, a total of 4.5 kg, which is suitable for medium-sized and larger UAVs. If you add an IR camera, a thermal imager, and a night surveillance unit, then this is already too much.

An on-board UAV navigation and control complex is also known, see www.teknol.ru, which includes:

INS/SNS integrated system: fully automatic flight along a given route;

effective parrying of wind influences;

stabilization of UAV orientation angles in flight;

video camera stabilization;

issuance of telemetric information about flight parameters and the state of on-board equipment;

automatic piloting outside visual range;

prompt change of route in flight (if there is a radio communication channel);

software control of on-board equipment;

recording UAV movement parameters into the on-board storage.

The complex contains: an inertial navigation system; satellite receiver GPS navigation or GLONASS; autopilot; flight data storage (optional), airspeed sensor (optional).

Disadvantages: the set of the complex is not optimized, it is designed to solve many problems, some are rarely used at all, and therefore are not needed for solving specific problems.

The “Panther” UAV and its control system are well known, first shown on the PEN TV screen on 01/28/10 in the “Military Secret” program.

This UAV is interesting in its design because it is a tiltrotor, i.e. can take off and land like a helicopter and fly like an airplane by turning its engines. The control system is designed as follows. The operator monitors the flight parameters on the monitor: altitude, speed, current flight coordinates and observes with the help of a video camera and thermal imager what is happening on the surface of the earth, and based on their results makes a decision on the further flight route.

The disadvantages are obvious: there is no independence (autonomy) of flight and in the event of a radio channel failure, returning to the take-off point is problematic, if not impossible, because there is no inertial system.

The Thurman drone is made of composite according to a normal aerodynamic design with a straight wing and two double-beam independent V-shaped stabilizers. A gasoline piston engine with a pusher propeller is installed in the rear part of the fuselage. The versatility of the Thurman UAV is due to the modular design of the device, which allows the use of loads of different weight and size characteristics and purposes in external replaceable containers. This increases the possibility of multi-purpose use of UAVs.

A special feature of the Thurman UAV is the ability to take off using a catapult and parachute controlled landing in an inverted position, thereby maintaining the target load in the outer container in the event of an unsuccessful takeoff and landing. When descending with a wing-type parachute, the wing folding system is activated, which improves the controllability and safety of the Thurman UAV during landing.

The FILIN-1 complex is designed to perform operational-tactical reconnaissance tasks using technical means, and has great autonomy and mobility. The presence of six UAVs in the complex allows for constant reconnaissance or target designation in the area of ​​the observation object. The FILIN-1 complex solves a number of combat missions: patrolling the area at any time of the day; detection and identification of objects; transmission of information about detected objects posing a threat; suppression of air defense systems.

Monitoring the air and ground situation of a UAV is associated with viewing a certain area of ​​the terrain and obtaining information using photo, television, and video systems and storing it on the on-board storage device. While flying in a given area, the UAV can transmit reconnaissance information in real time via a radio channel to the module of the communication, control and information processing system.

The UAV operator evaluates the incoming information and, via a command radio channel, controls the UAV itself and its target load, for example a television camera, in order to best observe stationary or moving objects and determine their type and coordinates.

Its disadvantages: military orientation, operation over areas and within the direct radio visibility of each UAV with a control and guidance station, no connection with GPS or GLONASS, which does not allow it to fly along a given route with high accuracy.

The technical objective of the invention is to increase the efficiency of the unconditional execution of a UAV flight mission.

To solve this problem, a method of using unmanned aerial vehicles is proposed, based on their adaptation of flight modes, characterized in that “n” UAVs are taken, where n>3, forming a so-called “stack” in flight, the first UAV is the leading one, the second and third slaves, and the leading UAV occupies the lower altitude echelon, the second UAV is intermediate, the third is the upper one, the distance of the leading UAV from the earth's surface is determined by the safety of flight and the unconditional fulfillment of the assigned task, for example, for monitoring gas and oil pipelines, this height is approximately 50 m, the second The UAV is higher than the leading one by another 50 m, the third UAV is higher than the second by another 50 m; the second UAV is a relay of data via a radio channel from the first UAV to a third UAV, which is also connected via a radio channel to a ground control base station, transmitting received surveillance data of the slave UAV and receiving flight control commands or changes to the flight program; at a flight altitude of the third UAV ≈150 m and with the accepted length of the gas and oil pipeline between pumping stations equal to 300 km, the upper third UAV is within line of sight with the ground base station, which allows maintaining stable communication with it; if one UAV is lost as a result of engine failure, bird strike, etc., the remaining two UAVs will successfully complete the assigned control task, while any of the remaining UAVs can become a wingman, and the other will occupy the upper echelon of 150 m; when half or more is reached, the “whatnot” communication is transmitted to the adjacent ground control station; contains a ground equipment channel and an airborne equipment channel, wherein the ground equipment channel contains: Personal Computer, GSM/GPRS modem and transceiver antenna connected in series; the onboard equipment channel contains GPS/Glonass receivers, an inertial system, connected as follows: the outputs of the GPS and Glonass receivers are connected to the first and second inputs of the modem, the first output of the inertial system is connected by a bidirectional bus to the third input of the modem, the second output is connected to the inputs of the UAV control surfaces, exits special equipment- with the fourth input of the modem, the output of which is connected to the channel of ground-based equipment through a transceiver antenna and a radio channel; with “n” UAV, the number of radio communication channels between the UAV and the ground equipment channel is also = “n”, while the channel separation is temporary, and the UAV is controlled in real time with the ground equipment channel.

Figure 1 shows structural scheme UAV control method, which contains: 1 and 2 - first and second UAV control stations, respectively, 3 and 4 - first and second pumping stations, 5, 6 and 7 - first, second and third UAV, respectively, 8 - oil pipeline or gas pipeline (or both at the same time, let’s call it a pipeline), 9, 10 and 11 - channels for monitoring the condition of the pipeline by the first, second or third UAV, respectively, 12, 13 and 14 - radio channels for communication of the second monitoring station with the first, second and third UAV, respectively, 15, 16 and 17 - radio communication channels of the first observation station with the first, second and third UAV, respectively, 18 - radio communication channel of the first UAV with the second, 19 - second with the third, 20 - first with the third, 21 - radio relay communication line between the first and second observation stations and between the first and second pumping stations.

Figure 2 shows a block diagram of the control device of one UAV (UAV UU) and its connection with the ground control station, which shows: 22 - operator of the ground control station 1, 23 - personal computer (PC), 24 and 25 - modems of the ground station and UAV, respectively, 26 - microcontroller (MC) of the UAV, 27 - inertial system of the UAV, 28 - drives of the control surfaces of the UAV (ailerons, elevator, etc., also engine thrust), 29 and 30 - receivers of navigation signals of GPS and GLONASS systems accordingly, 31 - special equipment of the UAV: ​​video camera, thermal imager, laser gas analyzer, etc. (there may be a wide variety of equipment depending on the purpose), connections between MS 26 and the UAV units are not shown. The UAV modem 25 is connected to the transceiver antenna A2 for communication with the ground control station 1 or 2.

The block diagram in Fig. 1 has the following connections.

The first ground control station 1 is connected to the second ground control station 2 by a communication bus 21, for example, a radio relay, as well as neighboring pumping stations 3 and 4. The first 5, second 6 and third 7 UAVs are interconnected by radio channels 18, 19 and 20 , and with ground base stations 1 and 2 radio channels 15, 16 and 17 (with station 1) and radio channels 12, 13 and 14 (with station 2). Also, UAVs 5, 6 and 7 are connected by channels 9, 10 and 11 (means) of observation with pipeline 8.

The control device in Fig. 2 has the following connections. Ground observation station 1 (also station 2) contains connected in series - operator 22, PS23, modem 24, transceiver antenna A1. UAV 5 (also 6 and 7) has the following equipment and connections: MC26 (connections are not shown), the outputs of the GPS29 and GLONASS 30 receivers are connected to the inputs of the modem 25 and to the inertial system 27, which is connected by bidirectional buses to a block of special equipment 31 and inertial system 27, its output through drives 28 is connected to the control surfaces of the UAV (ailerons, rudder, etc.).

A well-known disadvantage of existing systems with a single UAV is the fact that if communication with the UAV, or the UAV itself, is lost, three problems appear:

1. The task remains unfulfilled.

2. The reason for what happened is unclear.

3. The UAV itself was lost.

Problems 2 and 3 serious consequences they don't - these are just technical problems. Issue 1 is significant because it is a problem for the customer.

In cases where the implementation of a UAV task has priority over costs, it is advisable to create a “cloud” - that is, a link of several UAVs interconnected by a certain support and operation algorithm. Previously, when UAVs were expensive, the cloud concept was difficult to implement. Now the cost of an individual UAV has a steady downward trend, so the use of the “cloud” is beneficial - firstly, because the probability of completing a task increases, and secondly, because an increase in this probability does not lead to a significant increase in the cost of the solution.

The unmanned aerial vehicle control system (UAV CS) is designed to monitor and control the UAV, as well as solve other problems associated with the UAV performing the operator’s tasks.

The UAV control system consists of ground and onboard equipment. The ground equipment includes a personal computer 23 with installed specialized software and a GSM/GPRS modem 24 for receiving telemetry and transmitting control information. The on-board equipment consists of a GPS 29/GLONASS 30 receiver, an inertial system 27, an integration system, an on-board computer MC26, a GSM/GPRS modem 25, also special equipment 31, and surface control 28.

The main tasks of the ground equipment of the UAV control system:

1. Reception of GPS/GLONASS coordinates from the UAV and indication of the UAV’s position on the operator’s monitor.

2. The operator sets the coordinates of the target (route), altitude and flight speed and transfers this data to the UAV.

3. Transmitting the “Takeoff” command to the UAV.

4. Exchange of information with the UAV during the flight.

5. Changing the purpose (route) of the flight during the flight.

Purpose of the UAV onboard equipment:

1. Determination of GPS/GLONASS coordinates and their transfer to ground equipment.

2. Reception of target information from ground equipment.

3. Execution of commands from the ground equipment operator.

4. Determining your position in space using an inertial system, combining the received data with GPS/GLONASS receiver readings in order to perform an automatic flight.

5. Return to the starting point if the GPS/GLONASS signal is lost or another malfunction.

Additional possibilities for using UAVs.

1. Search for persons involved in terrorist or extremist activities.

2. It is in the interests of border guards to search and detect border violators.

3. In the interests of the migration service - the search and detection of illegal migrants working in closed facilities.

4. In the interests of the traffic police - detection and prevention of transport collapses, prompt search for cars responsible for accidents.

5. It is in the interests of the State Fishery Supervision Service to search for poachers.

6. In the interests of the ministry forestry- early detection and prevention of fires.

7. Search, detection and neutralization of other UAVs. There are known cases where UAVs are used by terrorists to smuggle or deliver weapons and ammunition. UAVs needed to counter other UAVs.

Claim

1. A method of using unmanned aerial vehicles, based on their adaptation of flight modes, characterized in that n UAVs are taken, where n>3, forming a so-called “stack” in flight, the first UAV is the leader, the second and third are slaves, and the leading UAV occupies the lower altitude echelon, the second UAV is intermediate, the third is upper, the distance of the leading UAV from the earth's surface is determined by the safety of the flight and the unconditional fulfillment of the assigned task, for example, for monitoring gas and oil pipelines, this height is approximately 50 m, the second UAV is still higher than the leading one 50 m, the third UAV is higher than the second by another 50 m, while the second UAV is a relay of data via a radio channel from the first UAV to the third UAV, which is also connected via a radio channel to the ground control base station, transmitting the received surveillance data of the slave UAV and receiving flight control commands or changes in the flight program, with the flight altitude of the third UAV ≈150 m and with the accepted length of the gas and oil pipeline between the pumping stations equal to 300 km, the upper third UAV is within line of sight with the ground base station, which allows maintaining stable communication with it.

2. The method according to claim 1, characterized in that if one UAV is lost as a result of engine failure, bird collision, etc., the remaining two UAVs will successfully complete the assigned control task, while any of the remaining UAVs can become a slave, and the other will take the upper flight level 150 m.

3. The method according to claim 1, characterized in that when half or more of the path between adjacent ground stations is reached, the stack communication is transmitted to the adjacent ground control station.

4. The method according to claim 1, characterized in that it contains a ground equipment channel and an on-board equipment channel, wherein the ground equipment channel contains: a personal computer, a GSM/GPRS modem and a transceiver antenna connected in series; the onboard equipment channel contains GPS/Glonass receivers, an inertial system, connected as follows: the outputs of the GPS and Glonass receivers are connected to the first and second inputs of the modem, the first output of the inertial system is connected by a bidirectional bus to the third input of the modem, the second output is connected to the inputs of the UAV control surfaces, outputs of special equipment - with the fourth input of the modem, the output of which is connected through a transceiver antenna and a radio channel to the channel of ground-based equipment.

5. The method according to claim 1, characterized in that when n UAV, the number of radio communication channels between the UAV and the ground equipment channel is also n, while the channel separation is temporary, and the UAV is controlled in real time with the ground equipment channel.