The Adaptive Correction of Angular Velocities of an Unmanned Aerial Vehicle Based on Discrete Measurements of Orientation

The paper considers the problem of correcting the angular velocities of an unmanned aerial vehicle based on current orientation measurements. For this task, an adaptive parameter identification algorithm based on discrete measurements has been developed. A method of correction of angular velocities for orientation of an unmanned aerial vehicle as a solid body is proposed. When developing the method, approaches to optimization methods of the second order, as well as methods of sensitivity theory, are used. A computational experiment was conducted. It is illustrated that by changing the initial, “ideal” Krylov angles and the accuracy of calculations, the efficiency of the algorithm can be evaluated.