Navigation of an unmanned aerial vehicle in an elliptical coordinate system

Abstract

The article deals with the kinematics of unmanned aerial vehicles (UAVs). The movement of the UAV as a material point is considered in an elliptical coordinate system. The position of the UAV in this coordinate system is determined based on the difference-rangefinder information that can be obtained from two navigation stations. In order to generate control actions to ensure the movement of the UAV along a given trajectory, it is necessary to determine the accelerations of the UAV that occur when moving along a specific trajectory. As an example of solving a problem of this kind, the motion of a point along one of the coordinate lines with a constant velocity modulo is considered. An expression is obtained that allows calculating the acceleration of a point based on data on elliptical coordinates, that is, without resorting to calculating the radius of curvature of the trajectory.