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Currently, there is a significant increase in the number of violations of the airspace by small aircrafts in civilian protected areas, such as airports, crowded areas, industrial enterprises, etc. In this regard, the task of detecting, determining the coordinates and tracking air objects crossing the guarded perimeter and used both for video filming and for the delivery of goods becomes especially urgent. Often used locating tools located on the territory have blind spots, or observation of objects is difficult, which is mainly observed in dense urban development. The paper presents the advantages and disadvantages of radar and optical monitoring systems allowing for real-time observation. The problem of processing frames of the video stream of optical and radar images for the purpose of tracking, as well as extrapolating the coordinates of the position of unmanned aerial vehicles in the event of a temporary loss of visibility, including full shading, partial shading or other types of natural interference. To solve this problem, a method is proposed based on the use of a set of adaptive filters tuned to various types of motion of objects in order to predict their position.
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