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Objective. The aim of the study is to build emulators of the main sensors of a small spacecraft (SC).Method. The quality of recovery is determined by the standard deviation (RMS) of the data from the standards. The study is based on the application of the dynamic programming method.Result. A review of works in the field of application of stable characteristics - invariants, in the applied areas of pattern recognition and state control of complex technical systems is carried out. A method aimed at identifying failures and building small spacecraft sensor emulators based on the analysis of stable indicators: correlation and covariance coefficients is proposed and tested. The proposed approach makes it possible to increase the overall reliability of the information-measuring system of a small spacecraft (SC). In the future, to emulate a failed sensor, it is planned to use multiple correlation of time sequences.Conclusion. In the general case, recognition is reduced to comparing the graph structures of objects to the correct matching of hierarchical image models based on various invariants. Control of the states of complex systems is based on the use of stable characteristics that act as invariant or subinvariant descriptors. Invariants in various applications help to recognize the current situation with a sufficient degree of accuracy, usually reducing the dimension of the problem.

Topography is the study of an area on the earth's surface. This term relates to the land's slope or contour, which is the interval of elevation differences between two adjacent and parallel contour lines. Topography generally presents a three-dimensional model of object surface relief and an identification of land or hilly areas based on horizontal coordinates such as latitude and longitude, and vertical position, namely elevation. The topography is essential information that must be provided in the execution of building or road construction based on the ground contour. The problem which is the ground contour which can provide visualization topography as a three-dimensional (3D) condition of the ground contour is not normal (non-linear). Another problem is that the traditional measurement techniques with wheel rotation only measure distances and cannot represent the trajectory of the ground contour in 3D. The proposed in-depth evaluation of orientation estimation results in the topography accuracy level. This methodology consists of several processes; Inertia and orientation of an object, Distance measurement, Terrestrial topocentric – Euclidean transformation, and Topography visualization. This research designed a prototype and proposed a new visualization method of the ground contours to reconstruct a topography map between three algorithms; Direct Cosine Matrix-3D Coordinate, Madgwick-3D Coordinate, and Complementary Filter. The methodology was tested and evaluated intensively by direct observation at three measurement locations with different difficulty levels. As a result, the Direct Cosine Matrix-3D Coordinate is able to visualize the ground contours by reconstructing a topography map much better than other methods.

Background and Objectives: Self-mixing interferometry of absolute distances is currently well represented by the method of frequency modulation of the laser diode supply current (FMCW). In recent years a harmonic modulation of the power current of a self-mixing laser began to be used. The advantage of the harmonic modulation method is due to the absence of the need to adjust the deviation of the radiation wavelength when changing the distance to the reflector. In the laser systems, the level of external optical feedback is an important parameter during interference measurements. The feedback level also affects the type of the self-mixing signal generated by modulation of the wavelength of laser radiation. The aim of this work was to study the effect of the feedback level on the accuracy of absolute distance measurements at the harmonic frequency modulation of laser radiation. Materials and Methods: The article presents a method of measuring distances using a semiconductor laser with a harmonic modulation of the radiation wavelength. The technique allows taking into account the influence of the feedback level to improve the accuracy of the measurements. In particular, it is proposed to reduce the feedback level in order to eliminate mode jumps and reduce the frequency shift of the laser diode radiation caused by a change in the concentration of charge carriers in the active region. Results: The results of the influence of the feedback level on the shape of the self-mixing signal and on the accuracy of distance measurements have been described. Conclusion: Evaluation of the feedback level can be carried out on the basis of the method of decomposition of the self-mixing signal in the Fourier and Bessel series and analysis of sets of spectral harmonics. The feedback level is determined using the values of the RMS deviation calculated from sets of spectral harmonics of the self-mixing signal.

This paper discusses a self-mixing interferometry method for measuring distances upon sawtooth modulation of the wavelength of laser radiation. Conditions under which the distance obtained from the spectrum of the modeled autodyne signal coincides with the distance specified in computer simulation are determined. The limiting capabilities of the method are theoretically substantiated for the increased range of deviations of the laser wavelength. The estimation of the limiting capabilities of the distance measurement method on the spectrum of the autodyne signal gives 10 microns at a wavelength of 650 nm at a 5-nm deviation of laser radiation wavelength. We also discuss difficulties of attaining the limiting accuracy of distance measurements associated with the nonlinear dependence of the wavelength emitted by a laser diode on its supply current and the need to analyze the self-mixing signal at high frequencies.

The capabilities of the method of current-modulated laser wavelength are shown to be extended by using harmonic modulation. Advantages of the sawtooth modulation method associated with using the frequency measurements of the interference signal as an information parameter have been researched. Advantages of the harmonic-type modulation based on the use of measurement results for spectral component amplitudes of the interference signal for distance determination have also been investigated. A comparative analysis of methods for absolute distance measurements at the existing capabilities of semiconductor laser wavelength modulation has demonstrated the benefits of the harmonic modulation of laser diode current for distances under 30 cm, showing the sawtooth current modulation to work better for distances greater than 50 cm.

Development of plough control system using ultrasound equipment of distance measurement is presented. The experimental results confirm the efficiency of tractor performance with contactless sensor of soil profile copying.