SELECTION OF ELEMENTS AND COMPONENTS FOR THE IMPLEMENTATION OF ONBOARD MEANS FOR MEASURING MOTION PARAMETERS AND DETERMINING THE SPATIAL ORIENTATION OF MOBILE ROBOTIC PLATFORMS

Abstract

The structure of means for measuring motion parameters and determining the spatial orientation of mobile robotic platforms(MRP) for use in conditions of incomplete information and interference has been developed. The main components on the basis of which the means for measuring motion parameters and determining the spatial orientation of the MRP are synthesized have been determined: a set of navigation sensors; radar meter of MRP movement parameters; GPS module; module for analysis and recovery of lost navigation data; a module for neural network improvement of the accuracy of measuring the parameters of the MRP movement; a module for neural network improvement of the accuracy of determining the geographical coordinates of the MRP; module for neural network forecasting of geographical coordinates and route of movement of the MRP; module for collecting and storing navigation data. It has been determined that the performance of computer components, the amount of memory, power consumption, the frequency of information updates, communication interfaces, measurement accuracy, cost, weight, dimensions, temperature range, reliability, resistance to special factors, etc., are the main criteria by which the selection of the element base and components is carried out. It is shown that these criteria quite fully characterize the element base and have an unambiguous concept, and are focused on the implementation of onboard radio-electronic means of measuring movement parameters and determining spatial orientation with high operational indicators. The existing element base and navigation components used for the implementation of means for measuring motion parameters and determining the spatial orientation of the MRP are analyzed. It is shown that in order to implement intelligent means of processing data from radar motion parameter meters, inertial navigation components, and GPS modules, it is necessary to use neurochips, digital signal processing processors, systems on a chip, microcontrollers, and FPGAs. It is proposed to normalize partial criteria for the selection of the element base and navigation components according to the method of minimax standardization. An additive model and normalized partial selection criteria are selected to calculate the integrated assessment of the effectiveness of the use of the element base. The method of selecting the element base and components for the implementation of onboard radio-electronic means of measuring motion parameters and determining spatial orientation has been improved, which, due to the use of a normalized additive model with the maximum value of the integrated efficiency assessment, provides the choice of the most effective element base and components that meet the requirements of the terms of reference.