modification consisted of building on the bomb's board a detection system to track targets that are designated by laser and a control system to adjust bomb’s glide path to precisely strike the target. In the simulation research, geometric and mass characteristics of the classical training bomb were used. Aerodynamic characteristics of the bomb have been determined using commercial software PRODAS. Using the mathematical model of the bomb spatial motion and model of the laser detection system series of simulations were performed. The main goal was to determine the effectiveness of the adopted construction solution. Therefore, simulations were performed for various initial positions of the bomb and fixed position of the target. It allowed finding the set of control laws coefficients giving the most accuracy of the bomb. The influence of structural modifications of the detection system on the possibility of effective detection and location of the target was also investigated. In the article, exemplary results of numerical calculations performed with the author's software are also shown.

marked with corners and other feature points recorded with a monocular camera pointed at the far end of a corridor and slightly tilted down at the angle β (20° - 30°). The flight stability and control are provided with an on-board autopilot that maintains zero pitch and roll angles and constant altitude. The image analysis has been based on the real-time computer vision library - OpenCV (Open Source Computer Vision library - http://opencv.willowgarage.com).

autonomicznie na podstawie rozpoznanych za pomocą kamery konturów i punktów charakterystycznych. W pracy przyjęto, że statek wykorzystuje niezależny system stabilizacji położenia zapewniający utrzymanie zerowych kątów pochylenia i przechylenia oraz stałej, zadanej wysokości. Na czole statku umieszczona jest kamera, której oś tworzy z osią statku w płaszczyźnie pionowej znany kąt β (20- 30°). Analizę obrazu oparto o bibliotekę OpenCV (Open Source Computer Vision Library - http://opencv.willowgarage.com).