KR101529509B1 - Navigatioan control system of unmanned airvehicle based on tmo model and the control method of the same - Google Patents

Abstract

Disclosed are a navigation control system of an unmanned air vehicle based on a TMO model, and a control method thereof. According to embodiments of the present invention, a more stable and reliable system is able to be constructed since a plurality of TMO models are constructed and operated as an individual partition. In addition, by using control information calculated by the other TMO model for controlling an air vehicle if an error occurs in one TMO model, the present invention enables to control the unmanned air vehicle as well as being widely applied to a field requiring a real-time control.

Description

TECHNICAL FIELD [0001] The present invention relates to a navigation control system for an unmanned aerial vehicle based on a TMO (TMO) model, and a control method thereof. [0002]

The present invention relates to a navigation control system for a unmanned aerial vehicle based on a TMO (TMO) model and a control method thereof.

ARINC653, the aircraft software architecture standard, is aimed at IMA (Integrated Modular Avionics), which was established by AEEC (Airlines Electronic Engineering Committee). The ARINC653 specifies a partitioning model for reducing cabling and ensuring interoperability, and an operating system function for this purpose.

On the other hand, there is a Federated model as a structure of traditional concept which is contrary to IMA. This federated model, independent applications of aircraft software, is performed together in a multi-node distributed system. In this case, since the LRUs (Line Replaceable Units) of various aircraft can be performed on different platforms, there is a problem that interoperability in a global procurement system becomes difficult and complex and heavy cabling is required.

In order to solve this problem, the IMA performs the LRU unit applications composed of a set of concurrent processes in the independent partitions. At this time, each partition is divided into CPU time and memory space in a single node of multiple cores and performed independently.

Therefore, in each partition, an execution cycle, a CPU occupation time (Duration) per each execution cycle, a memory requirement, and the like are defined in the pre-design. And, when performing independent applications of aircraft software, deterministic scheduling is provided according to these time-space requirements.

Meanwhile, there is a time-triggered message-triggered object model for supporting each of these partitioned computing. The Time-triggered Message-triggered Object (TMO) model was formulated by Kane Kim and Kopetz, and is a real- It corresponds to the Real-Time Distributed Object Model.

A Time-triggered Message-triggered Object Partition (TM) model supporting partitioned real-time object-based partitioning computation includes independent and fixed real-time data storage in an object, and a time-driven member task And a dynamic object model TMO (Time-triggered Message-triggered Object) with an event-driven member task.

On the other hand, when partitioned computing is supported by using the TiMO model, when an unexpected situation occurs such as when a software error is found in the TiMO model, the control of the flying object can not be performed within a predetermined time.

Embodiments of the present invention provide a navigation control system for a unmanned aerial vehicle based on a TMO (TMO) model, implemented by a plurality of TMO models independently driven to support partitioned computing without interfering with each other, And to provide a control method thereof.

In addition, embodiments of the present invention allow a plurality of TMO models to be composed of real-time tasks, so that when a software error occurs in the TMO model, (TMO) model based navigation system for controlling a navigation system and a control method thereof.

To this end, the navigation control system of the unmanned aerial vehicle based on the TMO (TMO) model according to the embodiment of the present invention is activated in a predetermined cycle to calculate the control value of the unmanned aerial vehicle and performs a test on the calculated control value A TMO (TMO) model part; Wherein the control unit is activated in a predetermined cycle to calculate control values of the unmanned aerial vehicle independently from the first navigation system model unit, performs a test on the calculated control values, responds to the test results from the first navigation system model unit A second navigation TMO (TMO) model unit for outputting the independently calculated control value instead of the first navigation TEOM model unit when a message to be received is not received for a predetermined time or received as a failure message; A method for providing an input from an unmanned aerial vehicle and a control station to the first and second navigation TEAM model units, and controlling one of the control values calculated by the first navigation TEAM model unit or the second navigation TEAM model unit And an input / output duplication device for providing the unmanned aerial vehicle to the unmanned aerial vehicle.

In one embodiment, the first and second navigation mechanism models are driven according to independent CPU time and space, respectively.

In one embodiment, the first and second navigation TE models may independently include an object information storage (ODS) for storing state information of the unmanned aerial vehicle and command data input from the controller; A message-gauge task module (GCS SvM) for receiving a control command necessary for controlling the unmanned aerial vehicle from the control station when a corresponding navigation thimble model unit is activated; A time-gauge task module (GnC SpM) for calculating a control value of the unmanned air vehicle using information stored in the object information storage unit when a corresponding navigation thimble model unit is activated; And a stability test module (HM SvM) activated by a message received from the time-gauge task module to determine the suitability of the calculated control value and the stability of the attitude of the unmanned aerial vehicle.

(P-GnC SpM) of the first navigation GMM model unit when it is determined as a normal result by the stability test module (P-HM SvM) of the first navigation GMM model unit, And transmits a failure message to the second navigation system model unit when it is determined to be an error, and deactivates the first navigation system model unit by itself.

In one embodiment, the stability test module (B-HM SvM) of the second navigation GMM model unit calculates a control value calculated by the time-gauge task module (B-GnC SpM) of the second navigation GMM model unit Receives the test result performed by the stability test module (P-HM SvM) of the first navigation system module, determines the stability of the attitude of the unmanned aerial vehicle, And the controller is configured to control not to output the received control value if the attitude of the unmanned aerial vehicle is stable.

In one embodiment, the input / output duplication device transmits only the control value calculated by the first navigation ECU model unit to the unmanned aerial vehicle when it is determined that the operation of the first navigation mechanism model unit is normal, When the operation of the first navigation system model unit is determined as an error, only the control value calculated by the second navigation system model unit is transmitted to the unmanned aerial vehicle.

The TMO-based navigation control method of the unmanned aerial vehicle according to the embodiment of the present invention includes an object information storage (ODS), a message-instrument task module (GCS SvM), a time-instrument task module (GnC (TMO) model including a plurality of TMO (TM) models, each of which includes a stability test module (HMM) and a stability test module (HMSvM)

(ODS), a message-gauge task module (GCS SvM), a time-gauge task module (GnC SpM), and a stability test (GnC SpM) included in the first navigation TMO A first step of calculating a control value of the unmanned aerial vehicle using a module (HM SvM) and performing a test on the calculated control value; (ODS), a message-gauge task module (GCS) included in a second navigation TMO (TMO) model that is activated in a predetermined cycle and is driven independently of the first navigation TMO A second step of separately calculating a control value of the unmanned aerial vehicle using the time-gauge module SvM, the time-gauge task module GnC SpM, and the stability test module HM SvM, and performing a test on the calculated control value; A third step of transmitting the test result of the first process to the second navigation TMO model; And a third step of analyzing the transmitted message and selectively outputting either the control value calculated in the first step or the control value calculated in the second step, and in the third step, If the message is not received or a failure message is received for a predetermined time in the 2-way navigation system, only the control value calculated in the second step is output to control the unmanned aerial vehicle, The control unit controls the unmanned aerial vehicle only by outputting only the value of the air conditioner.

Therefore, according to the navigation control system of the unmanned aerial vehicle based on the TMO model according to the embodiment of the present invention and the control method thereof, a plurality of TMO models are constructed and operated as independent partitions Thus, a more stable and reliable system can be constructed.

In addition, when an error occurs in one TMO (TMO) model, control information calculated by another TMO (TMO) model is used to control the vehicle, thereby realizing not only manned vehicle control but also real- Can be widely applied.

1 is a diagram showing an exemplary structure of a TMO (TMO) model according to an embodiment of the present invention.
2 is a diagram showing an exemplary structure of a system including a plurality of TMO (TMO) models and an input / output duplication device having independent structures according to an embodiment of the present invention.
FIG. 3 is an exemplary flowchart of a navigation control method of an unmanned aerial vehicle based on a TMO (TMO) model according to an embodiment of the present invention.
4 is a time domain specification of a plurality of TMO models according to an embodiment of the present invention.
Figure 5 is a time conditional description of each internal task in a plurality of TMO models according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating a simulation for testing the performance of a navigation control system of a unmanned aerial vehicle based on a TMO (TMO) model according to an embodiment of the present invention.
FIG. 7 is a graph showing a stability change of a flying object when a deliberate error is inputted according to the simulation of FIG. 6 according to an embodiment of the present invention. FIG.

First, the navigation control system of the unmanned aerial vehicle based on the TMO model according to the embodiment of the present invention and its control method can be applied to all systems requiring real-time distributed control.

In addition, the present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Terms including ordinals such as first, second, etc. described herein can be used to describe various elements, but the elements are not limited to these terms. That is, the terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second provisional component may also be referred to as a first component. The term " and / or " includes any combination of a plurality of related listed items or any of a plurality of related listed yields.

Also, when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may be present in between have. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

Also, the terms used in the present application are used only to describe certain embodiments and are not intended to limit the present invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, Should not be construed to preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Also, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The description will be omitted.

Embodiments of the present invention include a plurality of TMO models operating independently of each other. The first TMO (TMO) model is activated at predetermined intervals to calculate the control values of the unmanned aerial vehicle, and tests the calculated control values. Also, the second TMO (TMO) model is activated at a predetermined cycle to calculate the control value of the unmanned aerial vehicle, and performs a test on the calculated control value. At this time, if the second TMO model does not receive a message corresponding to the test result from the first TMO model for a preset time or receives a test result failure message, the first TMO (TMO) TMO) < / RTI > model.

That is, a plurality of TMO (TMO) models are driven independently, and when the main TMO model is judged as an error, the control value calculated by the TMO model is transmitted to the unmanned aerial vehicle A stable and reliable system can be constructed.

Hereinafter, with reference to FIG. 1, each structure of an exemplary structure of a TMO (TMO) model according to an embodiment of the present invention will be described in detail.

1, a TMO model according to an embodiment of the present invention includes an object data store (ODS) 10, a time-triggered method module (Spontaneous) Method: SpM) 20 and a Message-triggered Method or Service Method (SvM) 30.

First, the TMO (TMO) model according to the embodiment of the present invention is activated with a predetermined cycle, for example, a 50 Hz, 10 m-second deadline. That is, a period (50 Hz) that is activated in the TMO (TMO) model itself and an execution period (10 m-sec duration) every time of activation are given as time conditions.

The object data storage (ODS) 10 is a storage space for storing real-time data, and can be managed in units of Object Data Store Segments (ODSS), for example. Here, the object data storage segment (ODSS) has a private property that can be mutually exclusively accessed by the TMO model.

The time-gauge task module (SpM) 20 is a periodic member thread that must be activated every predetermined period of time at the time of designing the TMO (TMO) model, and must be terminated in the deadline. At this time, the time period of the time-gauge task module (SpM) is set to a constant corresponding to an autonomous activation condition (AAC).

In addition, the message-gauge task module (SvM) 30 is a member thread that is activated on receipt of an external event message and must be terminated in the deadline. Here, the external event messages are sequentially loaded according to a service request queue and are provided to the message-meter task module SvM.

2 is a diagram showing an exemplary structure of a system including a plurality of TMO (TMO) models and an input / output duplexer having independent structures according to an embodiment of the present invention.

First, the system shown in Fig. 2 is a system in which a plurality of independent first TMO (TMO) models (hereinafter referred to as " TMO ") models And a second TMO model 200 (hereinafter referred to as an 'auxiliary TMO model'). The TMO and TMO models are based on partitioned computing without interference in the CPU time and space independent of each other. If defects are found in the TMO model, the TMO model This is done to control navigation of the aircraft. Also, a plurality of TMO (TMO) models are each composed of real-time tasks. Further, they operate sequentially and independently without overlapping each other.

Hereinafter, each configuration of the system will be described in more detail.

First, each configuration of the main TMO model 100 will be described. The TMO model 100 operates at a period of, for example, 50 Hz and a duration of 10 m-sec, as shown in FIG.

The object information storage unit (ODS) 110 stores the state information of the unmanned aerial vehicle and the command data inputted at the control station. More specifically, various command data transmitted from a ground control station (GCS), data of an attitude and heading reference system (GPS) of an unmanned aerial vehicle (AHRS), control data (SWM) , And information related to the flight of the unmanned aerial vehicle.

The message-gauge task module (P-GCS SvM) 140 operates only when the main TMO model 100 is activated, and receives control commands necessary for controlling the unmanned aerial vehicle from the ground control station. It runs on a dead-line basis of 1m-sec.

The time-gauge task module (P-GnC SpM) 120 operates only when the main TMO model 100 is activated and stores information stored in the object information storage 110, for example, The control value of the unmanned aerial vehicle is calculated using the automatic flight mode set by the controller and various sensor data of the unmanned aerial vehicle. It operates on a 50Hz cycle and a dead-line basis of 8m-sec. (P-HM (Health Monitor) SvM) (hereinafter, referred to as " P-HM " 130 to induce the stability test module to operate.

 The stability test module (P-HM SvM) 130 is activated by a message received from the time-gauge task module (P-GnC SpM) 120 to determine the adequacy of the calculated control value And stability of the posture of the unmanned air vehicle. The stability test module (P-HM SvM) 130 determines whether the calculated control value is appropriate, for example, when an error is detected that the control value exceeds the permissible range, the stability test module (P-HM SvM) It is judged to be a failure. Thereafter, as described below, a series of processes for reflecting the control value calculated by the auxiliary TMO model 200 to the unmanned aerial vehicle are performed after the time when the failure is determined.

The stability test module (P-HM SvM) 130 performs the following steps in order.

1) waiting for a completion message from the time-gauge task module (P-GnC SpM) 120;

2) Perform normal / error test on the result of calculation of the completion message.

3) Deadline exceedance test for task execution of main TMO model (100).

4) When the test is successful, the calculation result is output to the air vehicle, and the test result and the normal message are transmitted to the auxiliary TMO model (200).

5) When the test fails, the failure message is sent to the auxiliary TMO model 200 and the TMO model 100 is deactivated.

Next, each configuration of the auxiliary TMO (TMO) model 200 will be described. The TMO model 200 operates with a period of, for example, 50 Hz and a performance period of 10 m-sec, for example, as the TMO model 100.

The functions and operations of the object information storage (ODS) 210 and the message-gauge task module (B-GCS SvM) 240 are the same as the corresponding tasks in the TMO model 100.

The time-gauge task module (B-GnC SpM) 220 may be configured such that in addition to the functions and operations of the time-gauge task module (P-GnC SpM) 120 described above, (Or displayed), the controlled value is controlled to be outputted to the unmanned aerial vehicle.

The stability test module B-HM SvM 230 waits for an error message from the stability test module (P-HM SvM) 130 of the TMO model 100.

In detail, the stability test module (B-HM SvM) 230 receives an error message from the main TMO model 100 because there is an error in the calculated value of the TMO model 100 (TMO) model 100 is judged to be a failure if a failure notice fault is received or a message is not received from the TMO model 100 for a predetermined time period (fail-silent fault) do. Thus, the auxiliary TMO model 200 is then responsible for calculation and output for unmanned aerial vehicle control.

Meanwhile, the stability test module (B-HM SvM) 230 checks the posture of the unmanned aerial vehicle in preparation for a case in which a message indicating normal even though there is an error in the TMO model 100 It is performed independently.

The stability test module (B-HM SvM) 230 performs the following steps in order.

1) Wait for the completion message from the time-gauge task module (B-GnC SpM) (220).

2) Wait for the normal / error message about the calculation result from the main TMO model (100).

3) To test the stability of its own unmanned aerial vehicle.

4) When the message of the TMO model 100 is normal and the flight object is stable, it is determined that the TMO model 100 is operating normally, .

5) If an error message is received from the main TMO model 100, no message is received, or if it is determined that the position of the unmanned aerial vehicle is unstable, the failure of the TMO model 100 Control to control the unmanned aerial vehicle with its own control value.

Next, the function and operation of the input / output duplication device 300 of FIG. 2 will be described as follows. The input distributor 310 of the input / output duplexer 300 inputs inputs from the unmanned aerial vehicle and the ground station to the primary TMO model 100 and the secondary TMO model 200, respectively. The output selection 320 of the input / output duplication device 300 may be configured to select any one of the control values calculated by the main TMO model 100 and the auxiliary TMO model 200 as unmanned Provide it to the flight.

When the operation of the main TMO model 100 is normal, the input / output duplication device 300 transmits only the control value calculated by the TMO model 100 to the unmanned air vehicle . If the operation of the main TMO model 100 is an error, only the control value calculated by the auxiliary TMO model 200 is transmitted to the unmanned aerial vehicle.

In addition, the primary TMO (TMO) model 100 and the secondary TMO model 200 are driven according to independent CPU time and space, respectively.

Hereinafter, FIG. 3 is an exemplary flowchart of a navigation control method of a UAV (TMO) model based on a UAV according to an embodiment of the present invention.

First, the navigation control method of the unmanned aerial vehicle including a plurality of TMO models according to the embodiment of the present invention includes an object information storage (ODS), a message-instrument task module (GCS SvM ), A time-gauge task module (GnC SpM), and a stability test module (HM SvM).

3, an ODS, a message-gauge task module (GCS SvM), a time-gauge task module (OSS), and a time-gauge task module, which are activated in a predetermined cycle and included in the first navigation TMO (GnC SpM), and stability test module (HM SvM), and the first process of testing the calculated control value is performed (S310).

The object information storage unit (ODS), the message-instrument task module (ODS) included in the second navigation TMO (TMO) model, which is activated in a predetermined cycle and is driven independently from the first navigation TMO A second step of separately calculating a control value of the unmanned air vehicle using the GCS SvM, the time-gauge task module GnC SpM, and the stability test module HM SvM, and performing a test on the calculated control value Is performed (S320).

Subsequently, the test result of the first process is transmitted to the second scan mode CMM (S330).

Then, the second navigation system analyzes the transmitted message, and as a result, either the control value calculated in the first process or the control value calculated in the second process is selectively outputted to the unmanned air vehicle (S340).

At this time, if the message is not received or the failure message is received for a predetermined time in the second navigation GMM model in step S340, the control unit controls the unmanned air vehicle by outputting only the control value calculated in the second process , And otherwise outputs only the control value calculated in the first step to control the unmanned aerial vehicle.

4 is a time domain specification of a plurality of TMO models according to an embodiment of the present invention.

As shown in the figure, it can be seen that the main TMO model and the auxiliary TMO model operate at intervals of 50 Hz and 10 msec deadline-based performance intervals without overlapping with each other.

5 is a time conditional specification for each internal test of a plurality of TMO models according to an embodiment of the present invention.

Each time-gauge task module is designed to run at the same period as the period of the corresponding TMO (TMO) model, and the deadline for real-time scheduling is set to 8m-sec. In addition, each message-meter task module and stability test module is executed when the corresponding TMO (TMO) model is activated, and the deadline for real-time scheduling is set to 1m-sec.

FIG. 6 is a diagram illustrating a simulation for testing the performance of a navigation control system of a unmanned aerial vehicle based on a TMO (TMO) model according to an embodiment of the present invention.

As shown in the figure, a plurality of TMO (TMO) models are mounted by software and simulation is performed (hardware-in-the-loop simulation). In the HILS experiment, RT-eCos.TMO.p, an operating system for the TMO model, is ported to a board (ST Thomson DX-66 STPC Client Chip) to be mounted on a real unmanned helicopter, Flight Control Computer (FCC), which implements the TMO model, FlightGear-v0.9.10, a simulator program of unmanned aerial vehicle, and ground control program.

FIG. 7 is a graph showing a stability change of a flying object when a deliberate error is inputted according to the simulation of FIG. 6 according to an embodiment of the present invention. FIG.

As a result of the simulation of the unmanned aerial vehicle of FIG. 6, when an intentional error is injected, the contents of the failure are classified into a roll, an altitude, a heading, a pitch, ). ≪ / RTI > It can be seen that the auxiliary thio (TMO) model is operated within 10m-sec for the artificial error injection, and the unmanned aerial vehicle attitude is stabilized and the mission is performed.

As described above, according to the embodiment of the present invention, it is possible to construct a more stable and reliable system by implementing a plurality of TMO (TMO) models to be constructed and operated as independent partitions. In addition, when an error occurs in one TMO (TMO) model, control information calculated by another TMO (TMO) model is used to control the vehicle, thereby realizing not only manned vehicle control but also real- Can be widely applied.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, And may be modified, changed, or improved in various forms.

Further, the method according to the present invention described herein can be implemented in software, hardware, or a combination thereof. For example, a method according to the present invention may be stored in a software program that can be stored in a storage medium (e.g., terminal internal memory, flash memory, hard disk, etc.) and executed by a processor May be implemented with embedded codes or instructions.

Claims (7)

In a navigation control system for an unmanned aerial vehicle based on a TMO (TMO) model,
A first navigation TMO (TMO) model unit which is activated at a predetermined cycle to calculate a control value of the unmanned aerial vehicle and performs a test on the calculated control value;
Wherein the control unit is activated in a predetermined cycle to calculate the control value of the unmanned aerial vehicle independently from the first navigation system and to determine whether the calculated control value exceeds a predetermined allowable range and the stability of the attitude of the unmanned air vehicle And when the message corresponding to the test result from the first navigation TEAM model unit is not received for a predetermined time or received as a failure message, A second navigation TMO (TMO) model unit for outputting the control value; And
Wherein the control unit provides an input from the unmanned aerial vehicle and the control station to the first and second navigation TEM model units and selects one of the control values calculated by the first navigation TE model unit or the second navigation TE model unit And an input / output duplication device for providing one to the unmanned air vehicle,
Wherein the first and second navigation TMModem units each independently comprise:
An object information storage (ODS) for storing state information of the unmanned aerial vehicle and command data input from the control station;
A message-gauge task module (GCS SvM) for receiving a control command necessary for controlling the unmanned aerial vehicle from the control station when a corresponding navigation thimble model unit is activated;
A time-gauge task module (GnC SpM) for calculating a control value of the unmanned air vehicle using information stored in the object information storage unit when a corresponding navigation thimble model unit is activated; And
And a stability test module (HM SvM) activated by a message received from the time-gauge task module to determine the suitability of the calculated control value and the stability of the attitude of the unmanned air vehicle, Based navigation control system for unmanned aerial vehicles. The method according to claim 1,
Wherein the first and second navigation mechanism model units are driven according to independent CPU time and space, respectively. delete The method according to claim 1,
As a result of the test by the stability test module (P-HM SvM) of the first navigation system TMO model unit,
If it is judged as normal, the control value calculated by the time-gauge task module (P-GnC SpM) of the first navigation method module is output to the unmanned aerial vehicle,
And transmits a failure message to the second navigation system model unit if it is determined to be an error, and deactivates the first navigation system model unit by itself. The method according to claim 1,
The stability test module (B-HM SvM) of the second navigation system TM model unit,
Wherein the control module receives the control value calculated by the time-gauge task module (B-GnC SpM) of the second navigation system module and performs the control performed by the stability test module (P-HM SvM) of the first navigation system Receives the test result, determines the stability of the attitude of the unmanned aerial vehicle,
Wherein the control unit controls so as not to output the received control value if the test result received within a predetermined time is normal and the attitude of the unmanned aerial vehicle is stable. The method according to claim 1,
Wherein the input /
Wherein when the operation of the first navigation mechanism model unit is normal, only the control value calculated by the first navigation mechanism model unit is transmitted to the unmanned air vehicle,
Wherein the controller transmits only the control value calculated by the second navigation system model unit to the unmanned aerial vehicle when the operation of the first navigation system is an error. . (TMO) model including an object information storage (ODS), a message-gauge task module (GCS SvM), a time-gauge task module (GnC SpM), and a stability test module (HM SvM) As a navigation control method for a unmanned aerial vehicle,
Storing the state information of the unmanned air vehicle and command data input to the control station using the object information storage unit (ODS) included in the first navigation TMO model, (TMO) model using the message-gauge task module (GCS SvM) included in the TMO (TMO) model, and receives control commands necessary for controlling the unmanned aerial vehicle from the control station (TMO) model, which is included in the first navigation TMO model, using the information stored in the object information storage unit via the time-gauge task module (GnC SpM) A first step of determining the suitability of the calculated control value and the stability of the attitude of the unmanned aerial vehicle using the stability test module (HM SvM);
(ODS) included in a second navigation TMO (TMO) model, which is activated in a predetermined cycle and is driven independently from the first navigation TMO model, (GCS SvM) included in the second navigation TMO model, and a control command for controlling the unmanned air vehicle from the control station And separately calculates the control value of the unmanned air vehicle using the information stored in the object information storage unit through the time-gauge task module (GnC SpM) included in the second navigation TMO (TMO) model , And the stability test module (HM SvM) included in the second navigation TMO (TMO) model, the adequacy of the separately calculated control value and the stability of the attitude of the unmanned air vehicle A second step of judging whether or not the vehicle is running; And
A third step of transmitting the test result of the first process to the second navigation TMO model; And
And a third step of analyzing the transmitted message and selectively outputting either the control value calculated in the first step or the control value calculated in the second step,
In the third step, when the message is not received or a failure message is received for a predetermined time in the second navigation system, only the control value calculated in the second step is output to control the unmanned air vehicle Wherein the controller controls the unmanned aerial vehicle based on the control value calculated in the first step.

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