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AIR MASS MOTION REMOTE CONTROL SYSTEM 
A. L. Logutko 
"Rakurs 3-D", Co., Moscow, Russia, 
N. A. Rosental, V. N. Glazov, K. V. Obrosov, 
The State Research Institute of Aviation Systems, Moscow, Russia 
Commission II, Working Group 4, 1996 
KEY WORDS: Remote Sensing, Environment, Development, Algorithms, Lidar Systems. 
ABSTRACT: 
An ecologically pure system is under development that is designed for prompt control any region of space. 
The control is based on generation of air mass velocity diagram. The system physical ground is Doppler 
analysis of CO» laser signal reflected from scattering centers of real atmosphere in a specified region. In the 
course of analysis a radial velocity of a scattering center is measured. To restore the complete vector of air 
mass velocity the interframe processing methods are applied to the obtained arrays that allow to evaluate a 
tangential component of velocity vector as a quotient of an interframe displacement by a procedure period. 
The possible applications of the system under development are atmospheric emission motion remote control 
  
and air traffic management. 
INTRODUCTION 
An ecologically pure system is under development 
that is designed for prompt control any region of 
space. The control is based on generation and 
analysis of three-dimensional air mass velocity 
diagram. 
The system physical ground is Doppler analysis of 
CO» laser signal reflected from scattering centers of 
real atmosphere in a specified region. Dust, aerosol 
or other inhomogeneous inclusions into the 
atmosphere exemplify such scattering centers. 
Literature sources (for example, Harney) and the 
results of full-scale tests conducted by the authors in 
mid-European conditions and in the ranges in 
Kazakhstan and the Barents sea allow to conclude 
that CO» laser systems can be applied for given 
problem solution in most weather conditions. In the 
course of analysis a radial velocity of a scattering 
center is measured. The individual measurements are 
combined into a three-dimensional array which 
presents a field of radial velocities of a controllable 
region in some time interval A, The procedure is 
repeated with 7 > A, period. To restore the 
complete vector of air mass velocity the interframe 
processing methods are applied to the obtained 
arrays that allow to evaluate a tangential component 
of velocity vector as a quotient of an interframe 
displacement by a procedure period. 
KALMAN FILTER VELOCITY ESTIMATION 
In the general case an interframe displacement can 
be evaluated in different ways. In our opinion the 
most promising is a three-dimensional Kalman filter 
method similar to the two-dimensional case studied 
by J. Stuller and G. Krishnamurthy (Stuller, 1983). 
333 
The evaluation theoretical grounds are simple 
enough. It is supposed that over the period 
T=t-1;, a radial velocity V (4,211) array 
element corresponding to a scattering center with 
spherical coordinates A,-7(w9,Ry has negligibly 
changed in magnitude but has shifted by amount 
equal to TV Ct, 1) V Ct, ;). Here V,(A,,t, ,) 
is a tangential velocity vector. 
Then using Taylor expansion in neighborhood of the 
point 7 and confining to the first member of the 
expansion one can show that 
VR(Ap.t:)-Vr(A, ti) = 
= T grad Wp(Ayst; 1) MY Art VR CH; 1) 
"rg CA ti a) VR CAs t; 4) 
M, O0 0 
Here M=| 0 Mg 0 |is a scale matrix. 
0 0 Mr 
Upon obvious rearrangement we obtain 
— a ol. .. 
Z(A,,t;) VgR(A, ,t;) qi -TMg ny Fi (A.5 = 
= HV (Ap ti) + 1g (A 1) Vr( Fp ty 
Here 
International Archives of Photogrammetry and Remote Sensing. Vol. XXXI, Part B2. Vienna 1996