Algorithms for estimating the parameters of a non-uniform surface and controlling an unmanned aerial vehicle when installing a seismic sensor

The problem of autonomous landing and installation of a seismic sensor on a target non-uniform surface using an unmanned aerial vehicle is considered. The goal of the work is to develop algorithms for estimating the parameters of a non-uniform surface for the successful landing of a UAV and installation of a seismic sensor. The landing accuracy of the unmanned vehicle and the installation accuracy of the seismic sensor are affected by the height difference in relation to their geometric dimensions. The surface proposed for landing may contain significant differences in heights, which is why it is necessary to evaluate segments of this surface for a stable location of the objects in question. The paper proposes algorithms for assessing the non-uniformity of surface segments based on images obtained from a depth camera, UAV control, and algorithms for estimating height differences that ensure the determination of the height difference between adjacent points and the angle of inclination between key points of each surface segment. These algorithms make it possible to analyze the surface segments available for landing and installation of the sensor during the UAV landing task, identifying suitable segments and excluding unsuitable ones. Experiments conducted in a simulation environment showed that in 97% of cases the UAV was recorded on the surface, considering the specified restrictions, with a total area of 25 and 81 km2. When the threshold values changed from 30 to 60%, the change in the number of available areas for planting did not exceed 5%.