Mathematical Modeling of Tethered Platform Vertical Flight

There is a quickly obtaining problem of sufficient information about the environment, including in hard-to-reach areas without communication or long-term stationary monitoring in order to ensure the safety or security of important objects. A possible solution to this problem is the use of tethered unmanned aerial platforms capable of staying in the air for a long time without landing. The power supply of such platforms, as well as the transmission of information from the equipment installed on board, is carried out through a cable. Purpose of the study: to create tools for designing tethered flying platforms equipped with an automated cable retention system, taking into account random atmospheric disturbances during vertical flight. The results of mathematical modeling of automated cable flying platform plant - tethered copter taking into account random atmospheric disturbances are presented. During mathematical modeling of the vertical position of the tethered copter, the extended Kalman filter algorithm was used, which made it possible to estimate the state variables of the tethered platform under random disturbances of the atmosphere as a partially deterministic medium.