Control and analysis of quadcopter flight when setting a complex trajectory of motion

The article presents the solution to the problem of autonomous piloting of a quadcopter for a complex flight task to determine the positioning error. Mathematical model is proposed for the equation of the dynamics of angular motion in a connected coordinate system to solve this problem. The stages of elaboration and creation of a flight task are considered, a model based on directed graphs is presented, reflecting various options for organizing the movement of a quadcopter. Clover quadcopters were taken as the object of research. The study was carried out in the airfield of the laboratory of unmanned aerial systems of the Saint Petersburg State University of Aerospace Instrumentation (SUAI). Fragments of the program code for the implementation of autonomous piloting in Python are given. The flight mission consisted in the formation of the letters SUAI in space. The article discusses the necessary hardware, instrumental systems and camera modes of operation for fixing the movement of the quadcopter. As a result of the research, special photographs of the movement of the quadcopter are taken and the permissible range of positioning errors is determined for performing the flight task.