KR101461482B1 - Method for tracking location of uninhabited aerial vehicle - Google Patents

Abstract

In the case where the position of the UAV can not be grasped due to the GPS disturbance or the failure of the GPS receiver, the ground control device adjusts the image sensor to photograph a fixed target (absolute coordinate) Tracking the position of a UAV that tracks the position of an unmanned airplane with stationary targets as reference points using state information (pitch, roll, heading, altitude) and image sensor information (azimuth and elevation) And to provide the above objects.
In order to accomplish the above object, a method for tracking an unmanned airplane according to the present invention is a first step of a ground control device transmitting an image sensor control command signal to an unmanned air vehicle, (T) in accordance with the image sensor control command signal transmitted from the terrestrial control equipment, wherein the predetermined signal is a command signal for controlling the predetermined fixed target A second step of controlling the image sensor so as to direct the unmanned airplane to the ground control device, a second step of controlling the image sensor to direct the unmanned airplane to the ground control device, The information includes information on altitude, heading, roll, and pitch of the unmanned aerial vehicle, Wherein the state information of the sensor includes an azimuth and an elevation at which the image sensor is aimed at the predetermined fixed target T and a third step wherein the ground control equipment is transmitted from the unmanned airplane And a fourth step of estimating the position U of the UAV using the state information of the UAV and the state information of the UAV.

Description

METHOD FOR TRACKING LOCATION OF UNINHABITED AERIAL VEHICLE [0002]

The present invention relates to a method for tracking a position of an unmanned airplane using coordinates of an image sensor and a fixed target, and more particularly, to a method for tracking an unmanned airplane using an image sensor and a fixed target, And more particularly, to a method for tracking a position of an unmanned airplane that tracks the position of an unmanned airplane using coordinates.

The conventional unmanned aerial vehicle receives position information (for example, latitude and longitude coordinates) of the unmanned aerial vehicle through a GPS receiver mounted on the unmanned aerial vehicle, and transmits the position information to the ground control equipment through the data link. The ground control device controls the unmanned airplane by transmitting control commands (for example, speed, altitude, roll, pitch, heading, etc.) to the unmanned airplane using the position information of the received unmanned airplane and the position information of the ground control equipment do.

However, when the GPS receiver mounted on the unmanned airplane fails, the ground control device can not know the location of the unmanned airplane, so that the control command can not be transmitted to the unmanned airplane. At this time, there is a problem that the direction of the automatic flight can not be calculated because the unmanned airplane can not know its own position.

Meanwhile, FIG. 1 is a diagram showing that it is impossible to track the position of an unmanned airplane when the GPS reception is interrupted in the conventional unmanned airplane location tracking method.

Referring to FIG. 1, a GPS jammer 110 may disturb reception of GPS signals within a radius of several tens of kilometers, and may significantly affect a reconnaissance UAV 200. Therefore, the GPS jammer 110 can not grasp its own position by the GPS jammer 110 as in the case of the failure of the GPS receiver 120, so that it can fly in the wrong direction due to wrong GPS position designation.

In this case, the ground control device 300 has a problem that the control of the UAV 200 becomes difficult and the UAV 200 may be lost.

SUMMARY OF THE INVENTION The present invention has been conceived to solve the problems described above, and it is an object of the present invention to provide a ground control apparatus and a ground control apparatus, (Azimuth and elevation) of the unmanned airplane and the image sensor (state information (pitch, roll, heading, altitude) The present invention provides a method for tracking a position of an unmanned aerial vehicle.

상기 오일러 각 공식에서의 상기 θ는 상기 무인 항공기의 피치 각이고, 상기 φ는 상기 무인 항공기의 롤 각이며, 상기 ψ는 상기 무인 항공기의 헤딩 각인 것을 특징으로 한다.In order to accomplish the above object, a method for tracking an unmanned airplane according to the present invention is a first step of a ground control device transmitting an image sensor control command signal to an unmanned air vehicle, (T) in accordance with the image sensor control command signal transmitted from the terrestrial control equipment, wherein the predetermined signal is a command signal for controlling the predetermined fixed target A second step of controlling the image sensor so as to direct the unmanned airplane to the ground control device, a second step of controlling the image sensor to direct the unmanned airplane to the ground control device, The information includes information on altitude, heading, roll, and pitch of the unmanned aerial vehicle, Wherein the state information of the sensor includes an azimuth and an elevation at which the image sensor is aimed at the predetermined fixed target T and a third step wherein the ground control equipment is transmitted from the unmanned airplane And estimating a position (U) of the UAV by using the state information of the UAV and the state information of the UAV. The fourth step of estimating the position (U) of the UAV, (1) is a process for estimating the coordinates in the X-axis direction and the coordinates in the Y-axis direction of the position U of the unmanned airplane by the following equations (1) to (3) Axis coordinates of the fixed target T in the X-axis direction and X-coordinate in the X-axis direction of the fixed target T constituting the position U of the unmanned airplane, Coordinate of the fixed target T in the Y-axis direction-Yr, and , Wherein a distance between a coordinate in the X axis direction constituting the position (U) of the unmanned air vehicle and a coordinate in the X axis direction constituting the fixed target (T) is Xr, Axis direction constituting the position U of the unmanned airplane and a distance between the coordinates in the Z-axis direction constituting the position U of the unmanned air vehicle and the coordinates of the fixed target T in the Y- The coordinates in the X-axis direction, the coordinates in the Y-axis direction, and the coordinates in the Z-axis direction of the fixed target T are set to predetermined coordinates (1) and the formula (2), R = Xr / Xn = Yr / Yn = Zr / Zn where the formula (3) Is used to obtain the Yr value,
The Xn in the formula (3) is an X-axis direction component constituting a unit vector of the gaze vector from the unmanned air vehicle to the fixed target T, and Yn is a unit vector of the gaze vector Axis direction component, Zn is a Z-axis direction component constituting the unit vector of the line-of-sight vector,
The unit vector of the line of sight vector includes the following Euler angle formula for applying information about the heading angle, roll angle, and pitch angle of the UAV to the Azimuth and Elevation of the image sensor: , ≪ / RTI >

Theta in the Euler angular formula is the pitch angle of the unmanned airplane, the phi is the roll angle of the unmanned airplane, and the is the heading angle of the unmanned airplane.

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According to the present invention, when the position of the UAV can not be grasped due to a GPS disturbance or a failure of the GPS receiver, the ground control device adjusts the image sensor to photograph a fixed target (absolute coordinate) Provides a method for tracking the position of an unmanned airplane that tracks the position of an unmanned airplane with a stationary target as a reference point using the state information (pitch, roll, heading, altitude) of the aircraft and information (azimuth and elevation) .

FIG. 1 is a diagram showing that in the conventional unmanned aircraft position tracking method, it is impossible to track the position of the unmanned airplane when the GPS reception is interrupted.
2 is a flowchart illustrating a method for tracking a position of an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 3 is a diagram for calculating the position of an unmanned air vehicle using state information of an image sensor and an unmanned airplane in an embodiment of the present invention. FIG.
4 is a diagram illustrating the principle for calculating the position of an unmanned aerial vehicle in an embodiment of the present invention.
5 is a diagram illustrating an operational relationship for calculating an unmanned aerial vehicle position in an embodiment of the present invention;
6 is a diagram showing a screen of a program for calculating the position of the UAV in the embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings and the following description. However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. Rather, the embodiments disclosed herein are provided so that the disclosure can be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like reference numerals designate like elements throughout the specification. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. &Quot; comprises "and / or" comprising ", as used herein, unless the recited element, step, operation, and / Or additions.

2 is a flowchart illustrating a method for tracking a position of an unmanned aerial vehicle according to the present invention.

2, the U tracking method of the UAV 200 according to the present invention includes the step of controlling the ground control device 300 so that the image sensor EO / IR of the UAV 200 directs a fixed target. (S100) of transmitting the image sensor (EO / IR) control command to the UAV 200 and the UAV 200 transmits UAV information of the UAV 200 to the ground control And the ground control device 300 transmits the position information of the UAV 200 to the equipment 300 by using the position calculation method using the U information of the UAV 200. [ (S300) of estimating the position U of the UAV 200, and displaying the position U of the UAV 200 calculated by the position calculation method (S400).

3 is a diagram for calculating the position of an unmanned aerial vehicle using the state information of the image sensor and the UAV in the embodiment of the present invention.

Referring to FIG. 3, the method for tracking U of the UAV 200 according to the present invention may include a GPS receiver 120 that can not receive a GPS signal due to a failure of the GPS receiver 120, In order to track the position U of the UAV 200 during a disturbance of reception, the ground control equipment 300 controls the image sensor E0 / IR to take a fixed target previously known. Then, the ground control equipment 300 transmits the state information (e.g., pitch, roll, heading, altitude etc.) of the UAV 200 and information (azimuth angle (U) of the unmanned airplane (200) using the target point of the fixed target as the base point of the fixed target.

4 is a diagram showing the principle for calculating the position of the UAV in the embodiment of the present invention.

Referring to FIG. 4, the principle of calculating the position U of the UAV 200 is based on the target value (xt, yt, zt) since the image sensor (EO / IR) ) Is a known constant value.

Table 1 shows the Euler angular formulas for obtaining the X-axis direction component, Y-axis direction component, and Z-axis direction component constituting the unit vector of the line-of-sight vector from the UAV 200 to the target T. Here,? Represents the roll angle of the UAV 200,? Represents the pitch angle of the UAV 200, and? Represents the heading angle of the UAV 200.

Therefore, the unit vector of the line-of-sight vector of the unmanned airplane 200 to the target (T) at the position (U) of the UAV 200, which is the position having the azimuth angle a and the elevation b, Can be calculated. That is, by using the above Euler angular formula, the azimuth angle a and the high angle b of the image sensor EO / IR aiming at the target T are calculated based on the pitch angle, roll angle, The unit vector of the line-of-sight vector of the UAV 200 facing the target T can be calculated by performing the rotation conversion on each value.

Next, to calculate the position U of the unmanned airplane 200, when the distance between the unmanned airplane 200 and the target T is R,

R = Xr / Xn = Yr / Yn = Zr / Zn.

Here, Xr, Yr, and Zr are the X, Y, and Z axis components of R, and the coordinate axes X and Y indicate the north and east.

Here, Zr = the altitude-target (T) altitude of the UAV 200 (the altitude of the UAV 200, the altitude of the target T is a known value and a constant value).

Herein, Xn denotes an X-axis direction component that constitutes a unit vector of a line-of-sight vector from the UAV 200 to the target T and Yn denotes a unit vector of a line-of-sight vector from the unmanned airplane 200 to the target T And Zn is a component in the Z-axis direction constituting a unit vector of a line-of-sight vector from the unmanned airplane 200 toward the target T. Each of Xn, Yn, It is the real value obtained by an Euler angle formula.

Here, R can be a real value by Zr / Zn, and Xr and Yr can be obtained by R. That is, Xr = Xn x R and Yr = Yn x R.

Therefore, the position U of the UAV 200 is located at

North = fixed target North - Xr

East = fixed target East - Yr.

Next, FIG. 5 is a diagram showing an operation relationship for calculating the position of the UAV in the embodiment of the present invention.

5, the ground control equipment 300 transmits an image sensor (EO / IR) control command so that the image sensor (EO / IR) of the UAV 200 directs the fixed target (T).

The unmanned airplane 200 is controlled by the altitude, heading, roll, pitch, azimuth angle a of the image sensor EO / IR and elevation angle b of the image sensor EO / Value to the ground control equipment (300).

6 is a view showing a screen of a program for calculating the position of the UAV in the embodiment of the present invention.

Referring to FIG. 6, the ground control equipment 300 estimates the position U of the unmanned airplane 200, either automatically or manually by a position calculation method in which an implementation is programmed for problem solving.

Here, A is the attitude information received from the UAV 200, B is the EO / IR sensor value received from the UAV 200, C is the sensor value of the fixed target T input by the user, And D is a result of tracking the position U of the UAV 200. [

The position calculation method includes a heading of the UAV 200 received from the UAV 200, rolls, a pitch, an altitude value, an azimuth angle a of an image sensor EO / IR, (U) coordinates of the UAV 200 are automatically calculated based on the position of the fixed target (T) using the elevation angle (b) of the UAV 200 and the position (U) D).

If not in flight, the user can manually calculate the position (U) coordinates of the UAV 200 by manually entering the A, B and C information and pressing the "Calculate" button.

For example, if the information of the UAV 200 is heading 0 degrees, roll 0 degrees, pitch 0 degrees, altitude 1100 meters, the image sensor EO / IR is 45 degrees azimuth (a) The estimated position U of the UAV 200 is North 8900 and East 8445 when the fixed target ((X, Y) = (10000,10000) That is, under the condition that the heading = roll = pitch = 0, azimuth = 45, and elevation = -45 degrees, the line of sight vector is (cos60, cos45, cos60). Since the elevation is 1100m, the angle between the Z-axis and the line-of-sight vector is 60 degrees, and R = 1100 / cos60 = 2200m. The resulting difference in distance between the target and the flying object is Xr = R x cos 60 = 1100m, Yr = R x cos 45 = 1100 x 1.414 (= root 2)? 1555m. Therefore, the position of the flying object is (8900, 8445) according to the target (10000, 10000) and the distance difference (1100, 1555).

Although the embodiments of the present invention have been described above, various modifications may be made by those skilled in the art. Therefore, it should be understood that the present invention should not be construed as being limited to the above embodiments, but should be construed in accordance with the following claims.

100: Satellite
110: GPS Jammer
120: GPS receiver
200: Unmanned aircraft
300: Ground control equipment
a: azimuth angle
b: Elevation angle
U: Location of UAV
T: Target
E0 / IR: Image sensor

Claims (4)

The method of claim 1, wherein the ground control device transmits an image sensor control command signal to the unmanned air vehicle, wherein the image sensor control command signal is a command signal for controlling the image sensor to aim at a predetermined fixed target (T) Step 1,
A second step of controlling the image sensor so that the unmanned airplane directs the predetermined fixed target (T) in accordance with the image sensor control command signal transmitted from the ground control equipment;
Wherein the state information of the unmanned airplane includes at least one of an altitude of the unmanned airplane, a heading of the unmanned airplane, a roll of the unmanned airplane, and a state of the unmanned airplane, Wherein the state information of the image sensor includes information about a pitch and includes an azimuth and an elevation in which the image sensor is oriented to the predetermined fixed target T,
And a fourth step of the ground control device estimating the position U of the unmanned airplane using state information of the unmanned airplane and state information of the image sensor transmitted from the unmanned airplane,
The fourth step of estimating the position U of the unmanned airplane is to estimate the coordinates of the position U of the unmanned airplane in the X axis direction and the coordinates in the Y axis direction using the following equations (1) to (3) However,
(1) is a coordinate in the X-axis direction constituting the position (U) of the unmanned air vehicle = a coordinate in the X-axis direction of the fixed target (T) - Xr,
The formula (2) is a coordinate in the Y axis direction constituting the position U of the UAV, a coordinate Yr in the Y axis direction of the fixed target T,
Here, the distance between the coordinate in the X-axis direction constituting the position U of the UAV and the coordinate in the X-axis direction constituting the fixed target T is Xr, and the position U of the UAV is configured Axis direction constituting the position U of the unmanned airplane and the coordinates in the Z axis direction constituting the position U of the unmanned airplane and the coordinates of the fixed target T ) Is Zr, and the distance between the coordinates in the Z-
The coordinates in the X-axis direction, the coordinates in the Y-axis direction, and the coordinates in the Z-axis direction of the fixed target T are predetermined coordinates,
R = Xr / Xn = Yr / Yn = Zr / Zn when the distance between the unmanned air vehicle and the fixed target T is R, and Equation (3)
Here, the equation (3) is used to obtain the Xr value and the Yr value in the equations (1) and (2)
The Xn in the formula (3) is an X-axis direction component constituting a unit vector of the gaze vector from the unmanned air vehicle to the fixed target T, and Yn is a unit vector of the gaze vector Axis direction component, Zn is a Z-axis direction component constituting the unit vector of the line-of-sight vector,
The unit vector of the line of sight vector includes the following Euler angle formula for applying information about the heading angle, roll angle, and pitch angle of the UAV to the Azimuth and Elevation of the image sensor: , ≪ / RTI >

Wherein the θ in the Euler angular formula is a roll angle of the UAV, the φ is a pitch angle of the UAV, and the ψ is a heading angle of the UAV. delete delete delete

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