DECENTRALIZED CONTROL OF A GROUP OF AUTONOMOUS MOBILE OBJECTS WHEN FORMING A TRAJECTORY OF MOVEMENT

An experimental study of the statistical parameters of a mixture of signal and noise at the output ofa logarithmic receiver was carried out: mean, standard deviation, mode, median, coefficients of asymmetryand kurtosis. The presence of these distribution parameters makes it possible to approximate theprobability distribution function of a mixture of signal and noise by the Edgeworth series of four terms.Logarithmic receivers are an important component of radio communication, radio navigation, radar andelectronic warfare systems. They determine important characteristics such as frequency and dynamicrange, sensitivity and noise immunity. The purpose of this work is to refine the model of a mixture of signaland noise at the output of a logarithmic receiver. Most well-known publications use the assumption ofa normal distribution law of a mixture of signal and noise at the output of a logarithmic receiver.The refinement of the signal-noise mixture model lies in the fact that this distribution is described analyticallyby the Edgeworth series, and the coefficients of the Edgeworth series are measured experimentallyusing a mock-up of a logarithmic receiver and a digital oscilloscope. In this case, the average value andstandard deviation are measured directly and displayed on the oscilloscope screen, and the coefficients ofasymmetry and kurtosis are obtained by processing an array of data recorded from the oscilloscope.The MATLAB program is used as a means of processing an array of data. To illustrate the results of theexperiments, screenshots from the oscilloscope screen are shown, which depict oscillograms and histogramsof a mixture of signal and noise. The following distribution parameters are obtained: – the averagevalue varies from 671 to 1938 mV; – the RMS value varies from 23.51 mV to 0.553 mV; – the coefficient ofasymmetry varies from minus 0.078 to 0.313; – the kurtosis coefficient varies from 2.394 to 3.471. Theresults obtained allow us to build the detection characteristics of a logarithmic receiver and estimate theprobability of a false alarm.