IMPLEMENTATION OF LENGTHENED OBJECTS DETECTION ALGORITHM.

Background: This article is devoted to the question of correction system implementation. The correction system is necessary to provide the ability of autonomous navigation the unmanned airborne vehicle. We can see a lot of examples of terrain landform correction systems and “synthetic aperture radar” – based systems. But in the case of using information about lengthened objects, we have a great opportunity to provide robustness objects, which we can reliably cross during our flight. Nevertheless, these objects should be placed in some on-board system, which will process this information to make a suggestion about unmanned airborne vehicle position. Methods: Recently it was suggested such an algorithm, which is based on the histogram comparison of the reflected signal of the pulse radar altimeter. It is well known that the distribution of the reflected signal of the pulse radar is depend on the terrain from which this signal was reflected. Therefore, the idea of using this information as the parameter, which helps to define the terrain type, is described in this paper. The comparison of the histograms (one is etalon, other is current histogram) in this algorithm is based on the evaluation of the intersection area of these histograms. Results: The main part of this paper reveals how this idea could be implemented in the real navigation system structure. The question of performance is also discussed there. It is shown a useful case of implementation of this algorithm. Conclusion: The suggested algorithm could be implemented in the real on-board system and it allows us to increase the accuracy of autonomous navigation without implementing any additional hardware decisions. [ABSTRACT FROM AUTHOR]