THE METHOD OF SOLVING THE PROBLEM OF THE DISTRIBUTION OF GOALS IN THE GROUP OF UAVS BY NETWORK-CENTRIC CONTROL SYSTEM
Abstract
The aim of the work is to create a productive computing device for a strapdown inertial navigation system (SINS) of a ground-based robotic complex (RTC) on a domestic element base. A formal description of the typical sufficient functions performed by SINS is given and the basicprinciples of the algorithms are described from the point of view of the requirements for computing resources. A description of domestic microcontrollers available on the market and a comparison with the closest foreign analogue are given. The results of the prototyping carried out showed the fundamental possibility, but the low prospects of creating computing devices on a single microcontroller. In this regard, technical proposals were developed and implemented to increase the computing power by means of building the architecture of a multiprocessor computer. As a result, it was necessary to develop special approaches to the design of algorithms and software. The organization of distributed computing is one of the most optimal methods for ensuring the calculation of functioning algorithms. The introduction of additional microprocessors into the calculator circuit made it possible not only to increase the computing power, but also to introduce additional interfaces for interaction with both the consumer and primary information sensors. The proposed variant of the distribution of SINS operation algorithms made it possible to create a reserve for the development prospects and system scalability. The most resource-intensive algorithm is the calculation of inertial coordinates, implemented as an iterative calculation for determining the latitude component of the location. Also, the performance margin may allow the implementation of additional adaptive algorithms for filtering and processing data based on the results of testing and operation of a ground moving object. The choice of on-board exchange interface between controllers is substantiated and its practical application is described. The creation of a closed loop of information exchange made it possible to implement additional parallel calculations of secondary information and to calculate an autonomous reckoning of the object's location coordinates. The described technical solutions can be used in the design of embedded calculators for objects for various purposes operating on the basis of hard logic. As the main drawback of the presented approach to designing a calculator, one can designate a limited functionality when working with ROMs.
