Methodology for Creating an Air Traffi c Control System for Unmanned Vehicles of a Smart City Based on Monitoring of Th eir Trajectory Parameters by Multi-Position Location Complexes with Heterogeneous Elements

The problem of using and developing the airspace of a “smart city” is due to the fact that, along with manned aircraft, unmanned aerial vehicles (UAVs) are used in it, which can solve the problems of moving goods, monitoring territories, etc. The purpose of the work was to develop the main provisions of the theory of UAV air traffic control for the safe integration of such aircraft into the air traffic of a “smart city” with existing manned aircraft based on monitoring using heterogeneous means of location, existing on the territory and newly created, which are combined into a single system, which is a source of information about air objects for the air traffic control system. The paper solves the problems of system analysis of air traffic control, the formation of requirements for the UAV monitoring subsystem, the methodology for creating such a subsystem based on a multi-position location complex with heterogeneous sources of information, including methods for classifying air objects according to a set of trajectory parameters, methods of recurrent adaptive filtering of measurements of dynamic parameters of intensively maneuvering UAVs, as well as methods for controlling the specified UAV, as well as methods for controlling the specified UAV monitoring subsystem.