RU2279999C2 - Method of observation of objects from remotely-piloted flying vehicle, remotely-piloted flying vehicle and its observation frame-type system - Google Patents

Abstract

FIELD: unmanned flying vehicles used for air observation of areas and objects located on them.

SUBSTANCE: observation is carried out with the aid of frame-type observation system. Image of object is transmitted from remotely-controlled flying vehicle at present time. In the course of observation, cameras of frame-type observation system with different fields of vision are changed-over. Flying vehicle is controlled in heading holding the image of object in vertical center line of frame. Cameras are changed-over when images of one field of vision of one camera shift to field of vision of next camera. When image gets in field of vision with narrower field of vision, frame is stored. Coordinates of object are calculated by position of image in stored frame, coordinates and angles of orientation of flying vehicle. Flying vehicle has fuselage, wing or another lifting system, power plant, control system with command radio line receiver, frame-type observation system and information signal transmitting system. Frame-type observation system consists of one or more TV and/or infra-red cameras; this system is arranged inside fuselage. Optical axes of cameras are fixed in plane of vertical symmetry of flying vehicle and are oriented forward and downward at different angles from 0 to 90° relative to its vertical axis. Fields of vision of cameras have different width. Cameras with more sloping orientation of optical axes have equal or wider field of vision as compared with cameras at lesser sloping of orientation.

EFFECT: reduced mass and overall dimensions and cost at simultaneous enhanced aerodynamics.

5 cl, 5 dwg

Description

The claimed technical solution relates to unmanned aerial vehicles designed to monitor from the air over certain sections of the terrain and objects on it when solving environmental, fire and other tasks.

To observe the terrain and the objects located on it, unmanned aerial vehicles (UAVs or UAVs), commonly known as remotely piloted aircraft (UAVs), described in the book by A.S. Novoselov, V.E. Bolnokin, P.I. Chinaev and A.N. Yuryeva "Adaptive Aircraft Control Systems", published in Moscow by the publishing house "Mechanical Engineering" in 1987, p. 36. A feature of the UAV, which distinguishes them from the total set of unmanned aerial vehicles, is the ability to remotely control the aircraft and its equipment during the flight according to the commands of the operator of the UAV located at the ground control point.

A known method for remote location coordinates of a ground object according to the patent of the Russian Federation No. 2182713 dated 03/28/2000, IPC 7 G 01 S 13/06, published on 05/20/2002 in bulletin No. 14. The method is carried out using a viewing system mounted on a UAV with the ability to rotate in a vertical plane and stabilized along the roll, which allows receiving image signals of a site located in the field of view of the viewing system. The UAV also has a satellite navigation system receiver, a magnetic compass, a vertical gyro, a deflection angle meter, and a barometric altimeter. In flight, the UAV stabilizes the roll angle system on it, using the survey system receives the image signals of the terrain, at the same time, the digital map of the area in which the UAV is scheduled to fly is preliminarily introduced into the computer, then the geographical latitude and longitude of the ground object.

Common features of a method for remotely determining the coordinates of the location of a ground object and the claimed technical solution are the presence of a viewing system that allows you to receive image signals of a site located in the field of view of the viewing system.

The disadvantage of the method of remote determination of the coordinates of the location of a ground object is the need for gyrostabilization of the viewing system, complicating and weighting UAVs.

Known self-contained tethered aircraft for remote monitoring of the terrain according to the patent of the Russian Federation No. 2159199 from 02.11.1998, IPC-7 64 V 1/50; B 64 D 47/00; B 64 C 31/06, published November 20, 2000 in Bulletin No. 32.

Autonomous tethered aircraft for remote monitoring of the terrain contains a hull, a wing, an energy center with a high-speed wind power installation, a container with equipment for monitoring the terrain. The prototype device is equipped with a power system for attaching a cable layout. The prototype invention is aimed at improving the reliability of obtaining data on the situation in the area being viewed. The container with the equipment (survey system) is suspended in the lower part of the body and is equipped with stabilizing gyroscopes, which are designed to counter vibrations and rotation of the body as a solid relative to the speed coordinate system. The list of drawings of the prototype includes, in particular, the layout of the container with the equipment, the circuit monitoring of the situation, the installation diagram of the sensor for viewing the surface.

Common features of the proposed technical solution and autonomous tethered aircraft for remote monitoring of the terrain are: the layout of the aircraft and the survey system; location of the overview system in the lower part of the housing.

The difference of the claimed technical solution is the location of the survey system in the lower part inside the fuselage, while in the prototype the container with the equipment is suspended, attached to the power ring located in the lower part of the body. In addition, despite the similarity of technical solutions, the autonomous tethered aircraft for remote monitoring of the terrain is practically stationary and is able to observe a specific area of the terrain, which did not allow us to choose it as a prototype.

The prototype of the claimed technical solution and a typical representative of the UAV is the television “Bee-1” UAV developed in the USSR in the 80s of the XX century, described, for example, in the article by Yu.I. Yankevich in the magazine “Wings of the Motherland”, No. 3, 2002 and presented in figure 1.

UAV "Bee-1" contains the following important components for the essence of the invention:

1 - wing (for a helicopter UAV, a rotor is used instead of a wing);

2 - fuselage;

3 - plumage (when using aerodynamic schemes of UAVs of the "duck" or "tailless" type, the plumage may be absent);

4 - power plant;

5 - personnel review system.

Positions 1, 2, 3 form a UAV glider.

Common features of this analogue and the claimed technical solution: the presence of a wing and fuselage, as well as the presence of a personnel survey system.

The personnel survey system comprises one or more television (TV) and / or infrared (IR) cameras.

In addition, the UAV also includes a control system with a command radio receiver and a transmitter of the information (TV or IR) signal from the personnel survey system (not visible in FIG. 1).

UAV type "Bee-1" for monitoring objects have the ability to transmit an image of the area from the personnel survey system to the control point. To do this, use the transmitter of the information (TV or IR) signal.

The operator of the control center has the ability to transmit commands that the UAV receives using the command radio receiver. The UAV control system carries out the operator’s commands both to control the aircraft itself and to control the personnel survey system and other onboard equipment of the UAV.

The main contradiction when using a Bee-type UAV for observing objects on the ground is the contradiction between the area of the simultaneously monitored terrain and the possibility of detecting and recognizing small objects. This is due to the fact that in the whole frame, regardless of the width of the field of view, a certain number of independent resolution elements is displayed (for example, for a standard TV frame, approximately 400 × 300 = 120,000 elements). To detect and recognize an object, it is necessary that at least a certain number of resolution elements be placed on the image of the object. It is believed that to detect a small-sized object, it is necessary that from 3 to 4 resolution elements are placed on its image, and from 5 to 15 resolution elements to recognize the object. These numbers may vary depending on the type of object being detected and recognized.

With a wide field of view, the area of the surveyed area is large, but the geometric size of each resolution element is large, so the number of resolution elements placed on a small object is correspondingly small. With a narrow field of view, the number of resolution elements on a small-sized object becomes larger, however, the area of the simultaneously monitored area decreases, and the likelihood of the object entering the field of view decreases.

This contradiction is usually resolved by the use of variable-field cameras and a rotary device in the surveillance system of UAVs of TV (IR) cameras.

The variable field of view of the frame review system is achieved by using a lens with a variable focal length or using several switched TV (IR) cameras (lenses) with different fields of view and collinear optical axes [A.S. Novoselov, V.E. Bolnokin, P.I. .Chinaev and A.N. Yuryev. "Adaptive Aircraft Control Systems", Moscow, "Mechanical Engineering", 1987, p. 38]. The variable width of the field of view allows after the initial detection of an object in a wide field of view to recognize the object when it is observed in a narrow field of view. The rotary device allows you to change the orientation of the optical axis of the survey system and accompany the object, holding it on the optical axis of the survey system (in the center of the frame) during the observation process. Described in the book of A.S. Novoselov and others, a method of observing objects using a UAV (prototype) is that [A.S. Novoselov, V.E. Bolnokin, P.I. Chinaev and A.N. Yuryev. “Adaptive Aircraft Control Systems”, Moscow, “Mashinostroenie”, 1987, p. 66]: “the operator of the target equipment observes the image transmitted from the UAV board in the current time, searches, detects and recognizes targets, while it has the ability "control the line of sight of the television sensor in azimuth and elevation and switch the sensor’s lenses by changing its focal length."

In practice, the method is implemented as follows: UAVs are sent along the route on which the presence of objects of interest is expected. At the same time, a wide field of view of the survey personnel system is established, and its optical axis is installed in the plane of vertical symmetry of the UAV and tilted down so that the movement of the terrain image on the screen allows the operator to notice points that are suspicious of the object. When a point suspicious of the presence of an object appears on the image, the optical axis of the frame review system is pointed at this point, thereby placing its image in the center of the frame. Further, controlling the position of the optical axis of the frame review system (including the use of automatic tracking of the object is possible), they hold a suspicious point in the center of the frame and narrow the field of view of the frame review system, enlarging the image. With a sufficiently narrow field of view, an object is detected, that is, they decide that the suspicious point is indeed an object of interest, and not the heterogeneity of the terrain. After detecting the object, while continuing to narrow the field of view and enlarging the image of the object, the object is recognized (for example, "house", "car", "person"). Holding the image of the object in the center of the frame, a command is issued to measure the coordinates of the object. The coordinates of the object are measured by calculating them on a computer using the coordinates of the UAV, the orientation angles of the UAV and the orientation angles of the optical axis of the personnel survey system relative to the associated coordinate system of the UAV at the time the command was sent to measure the coordinates.

The described method for observing the terrain and objects on it is implemented using a UAV similar to the Bee-1 UAV.

The disadvantages of the method and the UAV for its implementation are:

- the complexity of the operator of the UAV, which is difficult to navigate in space with the simultaneous movement of the UAV, turning the optical axis of the survey system and changing the width of the field of view of the survey system;

- the complexity, cumbersomeness and high cost of a personnel survey system with a rotary device in two axes, which leads to a general increase in the mass, dimensions and cost of the entire UAV, as well as to a deterioration in the aerodynamics of the UAV due to the protruding fairing of the personnel survey system;

- amplification of the measurement error of the coordinates of the observed objects associated with the removal of the line of sight of the object away from the UAV.

The first two drawbacks are obvious. The third drawback is illustrated in FIG. 2, which shows the sighting of an object by the optical axis of a frame survey system when measuring the coordinates of the object and the phenomenon of amplification of the error. Figure 2 shows the geometry of the survey terrain UAV with a personnel survey system in a vertical plane. On a circular leader in the upper right corner of the figure, geometry is shown enlarged near the point of intersection of the optical axis with the surface of the earth. The ABC triangle is formed by the surface of the earth, the true position of the optical axis and the apparent position of the optical axis. The object is located at point A. The apparent position of the optical axis is the position of the optical axis that corresponds to the measured orientation of the UAV relative to the Earth coordinate system and the measured orientation of the optical axis relative to the associated coordinate system of the UAV. Since all these measurements are associated with errors, the apparent position of the optical axis is different from its true position.

Putting the angle of inclination of the optical axis to the horizon equal to α and measured with an error of δ, and the distance from the UAV to the object is equal to D, for a right triangle ΔАВС you can write:

If there is no direct measurement of the range D in the composition of the measurements, then the range is calculated through the height H of the UAV flight:

в формуле (1и)

в формуле (1а) играют роль коэффициентов усиления угловых измерений в картинной плоскости при переходе к линейной погрешности АС на поверхности земли. Тот или иной коэффициент усиления имеет место в зависимости от того, используется или нет непосредственное измерение дальности.From the above expressions (1) and (1a), it can be seen that the linear errors of AB and AC are proportional to the angular error of δ and the distance D from the UAV to the object (UAV flight altitude N). Quantities

in the formula (1i)

in the formula (1a), the gain of the angular measurements in the picture plane plays the role of the transition to the linear error of the AS on the earth's surface. This or that gain takes place depending on whether or not a direct range measurement is used.

Таким образом, погрешность измерения высоты переходит в линейную погрешность на поверхности земли АС с коэффициентом усиления

.Consider the effect of the error in measuring the altitude of a UAV flight in the absence of a direct range measurement. The error in measuring the height ΔН leads to the fact that the apparent optical axis is shifted parallel to the true optical axis. In this case, the point of intersection of the axis with the earth’s surface shifts from / to the UAV by

Thus, the error in measuring the height becomes a linear error on the surface of the earth of the speaker with a gain

.

, то есть наименьшая погрешность достигается, если ДПЛА в момент измерения находится непосредственно над объектом.An obvious conclusion follows from the analysis: to reduce the total error in measuring the coordinates of the target, it is necessary that the angle α be as close to the right angle as possible

, that is, the smallest error is achieved if the UAV at the time of measurement is directly above the object.

OBJECTS OF THE INVENTION are

simplification of the work of the operator of the UAV;

reduction in weight, dimensions and cost of UAVs;

improvement of aerodynamics of the UAV;

reduction of measurement error of target coordinates.

These goals are achieved by refusing to control the position of the optical axis of the survey system and the field of view of the personnel survey system, and instead of using this forward movement of the UAV and the ability to control the UAV course when observing the target. At the same time, the noted disadvantages of the prototype method and the UAV prototype are eliminated. The implementation of the proposed method is closely related to the design of the UAV and personnel review system, the essence of which is also described in the present description.

The essence of the claimed technical solution is as follows: the method of observing objects from a remotely piloted aircraft is to observe the image transmitted from the board of a remotely piloted aircraft in the current time, to search for, detect and recognize objects, during the observation switch the television (infrared) ) cameras with different fields of view, and the observation is carried out using a personnel survey system consisting of several cameras with a certain The optical axes are linear, located in a vertical plane, and control the aircraft in the direction holding the image of the object on the vertical midline of the frame; when the image of the object moves from the field of view of one camera to the field of vision of the subsequent camera, the cameras are switched, and when the image of the object enters the field of view cameras with the narrowest field of view memorize the frame, after which, by the position of the image of the object in the stored frame, the coordinates and orientation angles are remotely piloted the aircraft calculates the coordinates of the object. A remotely piloted aircraft contains a fuselage, a wing or other supporting system, a power plant, a control system with a command radio receiver, a personnel survey system, an information signal transmitter, while simplifying the operator’s work, reducing the weight, size and cost of the aircraft to improve aerodynamics and reduce the error in measuring the coordinates of objects, as well as to protect against external influences, the survey personnel system consists of one or more TV and / or IR cameras and is located inside the fuselage, while a hole is cut out in the bottom of the fuselage, providing an overview of the terrain for the personnel survey system. The personnel survey system of a remotely piloted aircraft is designed in such a way that in order to increase the time for observing an object, improve the conditions for recognizing objects and reduce the error in measuring the coordinates of objects, the optical axes of the cameras of the survey personnel system are rigidly fixed in the plane of vertical symmetry of the aircraft and are oriented down and forward under various angles from 0 to 90 degrees to the vertical axis of the aircraft, and the fields of view of the cameras have different widths, and Variants with a flatter orientation of the optical axes have an equal or greater field of view width than cameras with a flatter orientation. The personnel survey system of a remotely piloted aircraft may differ in that in order to stabilize the image along the roll, the personnel survey system is suspended on an axis parallel to the longitudinal axis of the aircraft and is equipped with a drive for rotation around this axis according to the control system commands. The personnel survey system of a remotely piloted aircraft may differ in that, for the purpose of protection from external influences, the survey personnel system is equipped with a rigidly connected lid, which, when the personnel survey system is rotated around the suspension axis by a sufficiently large angle exceeding the working angles, closes the fuselage bottom opening providing a personnel survey system an overview of the terrain.

Common features of the prototype method and the proposed method are the following:

observe the image transmitted from the UAV in the current time;

carry out the search, detection and recognition of objects;

in the process of observation, frame television or infrared cameras with different widths of the field of view are switched.

The most significant difference of the proposed observation method from the prototype is that instead of controlling the position of the line of sight of the survey personnel system, they control the course of the aircraft by holding the image of the object on the vertical midline of the frame. The enlargement of the image of the object is achieved due to two factors:

the natural approach of the UAV to the object during the flight;

discrete changes in the angular width of the field of view of the camera due to the fact that when the image leaves the field of view of the camera through the lower border of the frame, they switch to the next camera, the optical axis of which is steeper (at a large angle to the horizon), and the field of view is narrower.

When the image of the object enters the field of view of the camera with the narrowest field of view and the most steepest optical axis, the frame is stored, after which the target coordinates are calculated from the position of the image of the object in the stored frame, coordinates and angles of orientation of the UAV.

Common features of the proposed UAV and UAV prototype ("Bee-1") are the presence of the UAV:

fuselage;

wing (or other supporting system, for example, a propeller);

power plant;

control systems with a command radio receiver;

personnel review system;

information signal transmitter.

A significant difference is the placement of the personnel survey system from one or several cameras inside the fuselage, while a hole is cut out in the bottom of the fuselage that provides the personnel survey system with an overview of the terrain.

Figure 3 shows a photo of the GRANT UAV equipped with a personnel survey system located inside the fuselage. The photo shows that on the UAV there is no protruding fairing of the personnel survey system, which is typical for the UAV prototype "Bee-1" (Fig. 1).

Placing a personnel survey system inside the fuselage (or at least inside the fuselage contours) significantly improves the aerodynamics of the aircraft. The reason why such a simple constructive solution has not been used on UAVs with personnel survey systems before is the UAV designers' commitment to the traditional observation method (prototype), which provides an overview of the terrain without changing the direction of the UAV flight. At the same time, it should be noted that for a UAV with lowercase TV systems and IR systems, such a constructive solution is quite common.

The application of the proposed observation method when placing a personnel review system inside the fuselage becomes possible when using the personnel review system proposed for implementing the proposed method. At the same time, the main advantage of the personnel survey system is the ability to observe the object and the adjacent area in the current time.

Common features of the proposed personnel review system and the personnel review system prototype (the review system of the Bee-1 UAV) are the presence of one or more TV (IR) cameras in the system and the ability to change the width of the current field of view by switching cameras.

The significant differences of the proposed personnel review system are:

rigid fixing of the cameras with the placement of their optical axes in the plane of vertical symmetry of the UAV in the sector of angles from 0 to 90 degrees with respect to the vertical axis of the aircraft .;

noncollinearity of the optical axes of TV cameras;

different widths of the fields of view of the cameras, and cameras with a flatter orientation have an equal or greater width of the field of view than cameras with a less shallow orientation.

An example of the placement of the optical axes and angles (fields) of view of three cameras, indicated by Roman numerals I, II, III, is shown in the drawings of figures 4 and 5.

The proposed personnel review system has a drawback: when controlling the UAV at the rate, which is an integral element of the proposed method for observing objects, there is a roll. When the cameras of the personnel survey system are rigidly fixed, the roll causes image displacement. To avoid this undesirable phenomenon, stabilization of the personnel survey system is necessary. To this end, a personnel review system consisting of three cameras rigidly connected into a single design, as described above, must be suspended on an axis parallel to the longitudinal axis of the aircraft and equipped with a drive that allows you to rotate the personnel review system around the suspension axis according to the commands of the UAV control system. Based on the information about the current roll of the UAV, the control system can rotate the personnel survey system in such a way as to compensate for the roll of the UAV.

With the stabilization of the roll, the rotations of the personnel survey system are relatively small and amount to no more than 30 degrees to the right and left of the plane of vertical symmetry of the UAV. Suspension of the personnel review system on an axis parallel to the longitudinal axis of the aircraft allows you to translate the personnel review system into an inoperative (marching) position if you rotate the personnel review system at a sufficiently large angle, for example, 90 degrees. In this case, the entrance pupils of the cameras will be removed sideways and protected by the side surface of the fuselage. To close the viewing hole in the bottom of the fuselage, a cover is rigidly fixed to the frame review system, which, when the frame review system is rotated by a sufficiently large angle, closes the review hole. This protects the personnel survey system from external influences when landing UAVs. Closing the inspection hole with a cover also positively affects the aerodynamics of the UAV during flight en route.

We show that the goals in the claimed technical solution are achieved.

1. The goal of "simplifying the work of the operator of the UAV." The operator’s work is simplified, since the operator only needs to look at the image moving from top to bottom on the screen and periodically mark the position of the suspicious point (target) on the image, for example, with the mouse or other pointer. The issuance of commands for completing the UAV on the course, for switching cameras and for remembering the frame required to implement the method, allows for simple software implementation on a computer and does not require any special actions from the operator.

2. Objectives: "reducing the weight, size and cost of UAVs." A UAV implementing the described method is shown in FIG. 3. It is much simpler, smaller, easier and cheaper than UAVs with personnel survey systems with a variable field of view and a rotary device, necessary for the implementation of the prototype method. This UAV has a personnel review system of three TV cameras, the fields of view and optical axes of which are placed in accordance with the example shown in Figures 4 and 5. The launch mass of the UAV is 20 kg, while the launch mass of the Bee-1 UAV is significantly higher 100 kg (about 140 kg) with approximately the same basic flight performance (range, speed, flight duration).

It is known from experience that the cost of flying equipment is approximately proportional to its mass.

3. Purpose: "improvement of the aerodynamics of the UAV" is achieved, first of all, by reducing the cross-sectional area of the UAV, which occurs due to the exclusion of the protruding fairing of the personnel survey system. The improvement of aerodynamics also occurs due to the disappearance of the air turbulence around the fairing inherent in the UAV prototype.

In addition, the personnel survey system of the UAV in the photo of figure 3 made it possible to place the power plant with a propeller in the most favorable place - in the nose of the UAV. This allows more efficient use of the propeller.

An additional improvement in aerodynamics on the flight route to the target is achieved by closing the viewing hole with a lid when turning the viewing frame system at a sufficiently large angle when moving it to the route position.

The aerodynamic form of the GRANT UAV (photo of FIG. 3) compared with the Bee-1 UAV (photo of FIG. 1) is obviously more noble.

4. Purpose: "reducing the error in measuring the coordinates of targets."

и полное отсутствие эффекта усиления линейных погрешностей из-за ошибок измерения ориентации ДПЛА и высоты его полета.The proposed method for observing targets involves measuring the coordinates of the target when it is observed through a TV (IR) camera with the narrowest field of view and the most abruptly oriented optical axis. Ideally, when flying a UAV exactly above the target, the line of sight of the target will be located at an angle of 90 degrees to the horizon. Putting the angle α in expressions (1, 1a) equal to 90 degrees, we have

and the complete absence of the effect of amplification of linear errors due to errors in measuring the orientation of the UAV and its altitude.

Deviation of the line of sight of the target from the perpendicular at zero roll of the UAV or stabilization of the personnel survey system along the roll does not exceed half the angular diagonal of the camera’s field of view (usually no more than 6 degrees). Setting α = 90 ° -6 ° = 84 °, we have:

The linear error amplification factors on the ground are:

при непосредственном изменении дальности,

with a direct change in range,

при вычислении дальности через высоту.

when calculating range through height.

From this it can be seen that the phenomenon of amplification of errors in measuring the orientation angles and flight altitude of the UAV in the proposed method is practically absent.

At the same time, with the value α = 30 ° characteristic of the prototype method:

The amplification factors of the linear error on the ground are equal to:

при непосредственной изменении дальности,

with a direct change in range,

при вычислении дальности через высоту.

when calculating range through height.

Thus, the proposed method can significantly reduce the error in measuring the coordinates of the target associated with errors in measuring the orientation angles and flight altitude of the UAV.

From the foregoing, we can conclude that the claimed technical solution meets the criteria of patentability: novelty, inventive step and industrial applicability.

Claims (5)

1. The method of observing objects from a remotely piloted aircraft, which consists in the fact that the observation is carried out using a personnel survey system consisting of several television and / or infrared cameras, the observed image is transmitted from the board of a remotely piloted aircraft in the current time, they search, detection and recognition of objects, in the process of observation, the cameras of the personnel review system with different fields of view are switched, characterized in that the cameras are a personnel review of the new system is used with non-collinear optical axes located in a vertical plane, they control the aircraft along the course, holding the image of the object on the vertical midline of the frame, switching cameras when the image of the object moves from the field of view of one camera to the field of vision of the subsequent camera, and when the image object in the field of view of the camera with the narrowest field of view remember the frame, after which the position of the image of the object in the stored frame, coordinates and angles of orientation The remotely piloted aircraft calculate the coordinates of the object. 2. A remotely piloted aircraft comprising a fuselage, a wing or other supporting system, a power plant, a control system with a command radio receiver, a personnel survey system, an information signal transmitter, characterized in that the survey personnel system consists of one or more television and / or infrared cameras and is located inside the fuselage, while a hole is cut out in the bottom of the fuselage that provides a field overview to the personnel survey system. 3. The personnel survey system of a remotely piloted aircraft containing television and / or infrared cameras, characterized in that the optical axis of the cameras of the survey personnel system are rigidly fixed in the plane of vertical symmetry of the aircraft and are oriented down and forward at various angles from 0 to 90 ° to the vertical axis of the aircraft, and the fields of view of the cameras have a different width, and cameras with a flatter orientation of the optical axes have an equal or greater width of the field of view than the cameras with a less gentle orientation. 4. The personnel survey system of a remotely piloted aircraft according to claim 3, characterized in that the survey personnel system is suspended on an axis parallel to the longitudinal axis of the aircraft and is equipped with a drive for turning around this axis according to the control system commands. 5. The personnel survey system of a remotely piloted aircraft according to claim 4, characterized in that the personnel survey system is equipped with a rigidly connected lid, which, when the personnel survey system is rotated around the suspension axis by an angle exceeding the working angles, closes the fuselage bottom opening providing Personnel Survey System Terrain Survey.

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