KR102466484B1 - Reconnaissance system and operating method for reconnaissance system - Google Patents

Abstract

According to an embodiment of the present invention, a reconnaissance system comprises: a reconnaissance device having a photographing unit capable of capturing images and a location detecting unit capable of performing self-localization (L_se), and capable of moving in the air; a ground device installed on the ground to synthesize the images transmitted from the photographing unit and to control the operation of the reconnaissance device; a location information device having a code unit having a plurality of cell members aligned and arranged in at least one direction to form a pattern indicating information on an installation location, and installed on the ground; and a processing unit capable of determining whether there is an error in the self-localization (L_se) detected by the location detecting unit when the photographing unit captures the location information device by using an image captured by photographing the location information device by the photographing unit. The processing unit may be installed to be provided in one of the reconnaissance devices and the ground device. Therefore, according to embodiments of the present invention, the reconnaissance system can quickly determine whether there is an error in the self-localization detected by the reconnaissance device by using the location information device having a pattern representing information on an installation location. In addition, the reconnaissance system can quickly correct the self-localization when there is an error in the self-localization.

Description

Reconnaissance system and operation method of reconnaissance system {RECONNAISSANCE SYSTEM AND OPERATING METHOD FOR RECONNAISSANCE SYSTEM}

The present invention relates to a reconnaissance system and a method for operating the reconnaissance system, and more particularly, to a reconnaissance system capable of quickly determining whether or not there is an error in a self-position detected by a reconnaissance device and quickly correcting a self-position; and It is about how to operate the reconnaissance system.

Artificial satellites take images of the desired surface of the earth according to missions such as enemy reconnaissance, earth observation, weather observation, and communication. At this time, the image taken from the artificial satellite may be geometrically distorted according to the position of the satellite at the time of capture. Therefore, in order to generate a practical image or a more accurate image, it is necessary to correct the captured image according to the location of the artificial satellite at the time of capturing (ie, self-localization). Accordingly, artificial satellites are equipped with various types of sensors, for example, a star tracker, a geomagnetic sensor, a sun sensor, a GNSS sensor, and the like, to determine a magnetic position as accurately as possible. In addition, after the artificial satellite identifies its position using a star tracker, the calculated position is transmitted to the ground along with the captured image, and the captured image is corrected on the ground.

However, an error may occur in the magnetic position determined by the artificial satellite due to various reasons such as external factors. Therefore, a 'Ground Control Point (hereinafter referred to as GCP)' is installed and operated by utilizing a location information device such as a corner reflector to correct location accuracy at a specific location on the ground promised in advance. Here, the ground control point (GCP) may be, for example, a structure including a corner reflector capable of reflecting electromagnetic waves.

A method of determining whether a position of a self detected by an artificial satellite using a position information device is an error will be described below. When an artificial satellite moves along an orbit and moves close to a location information device, the location information device, that is, a ground reference point (GCP) is photographed. At this time, the artificial satellite detects its own position using various sensors such as star trackers, and when the satellite arrives at the position of the previously agreed ground control point (GCP), the position is photographed and the corresponding photographed image and satellite at the time of the photographing are recorded. location information is transmitted to the ground. The ground station compares the captured image of the location information device with a previously stored reference image of the location information device. At this time, if there is a difference between the captured image and the reference image, it is determined that there is an error in the magnetic position detected by the artificial satellite. Accordingly, the ground station transmits correction information to the satellite so as to correct the self-position detected when the location information device is photographed by the artificial satellite so as to correct the posture. After the self-position is corrected, the accuracy of the detected self-position is further improved when the artificial satellite later photographs the reconnaissance target area. That is, the error is reduced.

On the other hand, the conventional location information device such as a corner reflector is only installed in an agreed place, but the location information device itself does not indicate its installation location. Therefore, in order to know whether or not there is an error in the self-position, it is necessary to precisely compare the image captured by the artificial satellite and the reference image. That is, it is necessary to precisely compare each pixel of the image. Therefore, there is a problem in that it takes a long time to determine whether or not there is an error in the magnetic position detected by the artificial satellite. That is, since the self-position detected by the artificial satellite is transmitted to the ground, and then corrected by retransmitting the correction value to the satellite after confirmation, it takes a long time and there is a problem that cannot be automated.

Korean registered patent 10-1900073

The present invention provides a reconnaissance system and a method for operating the reconnaissance system capable of quickly determining whether or not there is an error in a self-position detected by a reconnaissance device.

The present invention provides a reconnaissance system capable of quickly correcting a self-position detected by a reconnaissance device and a method for operating the reconnaissance system.

A reconnaissance system according to an embodiment of the present invention includes a photographing unit capable of capturing an image and a location detector capable of detecting a self-localization (L _se ), and includes a reconnaissance device capable of moving in the air; a ground device installed on the ground to synthesize images transmitted from the photographing unit and to control the operation of the reconnaissance device; a location information device having a code unit having a plurality of cell members aligned and arranged in at least one direction to form a pattern indicating information on an installation location, and installed on the ground; and determining whether there is an error in the self-position (L _se ) sensed by the location sensor when the location information device is captured by the capture unit, using an image captured by the location information device by the capture unit. and a processing unit, and the processing unit may be installed to be provided in any one of the reconnaissance device and the ground device.

At least two cell members among the plurality of cell members may differ in at least one of color, temperature, and reflection coefficient.

When the temperatures of at least two of the plurality of cell members are different, the location information device may include a temperature control member that is connected to the cell member and adjusts the temperature.

When at least two of the plurality of cell members are provided to have different reflection coefficients, the cell members having different reflection coefficients may be made of different materials.

A plurality of location information devices may be provided, and the plurality of location information devices may be installed at different locations on a moving path of the reconnaissance device.

The processing unit may include: an extracting unit extracting a pattern image PI _i including the plurality of cell members from an image captured by the photographing unit of the location information device; Among a plurality of pre-stored reference pattern images (PI _s ), a reference pattern image (PI _ss ) identical to the extracted pattern image (PI _i ) is searched, and pre-stored in association with the searched reference pattern image (PI _ss ) an absolute position derivation unit for deriving the position of the position information device as an absolute position (L _a ); and when the photographing unit photographs the location information device, the location L _c of the location information device is calculated using the location L _se detected by the location sensor, and the location of the location information device is calculated ( and a determination unit that compares L _c ) with the derived absolute position L _a and determines whether or not the sensed position L _se is an error.

The processing unit includes a correction unit that operates when it is determined that there is an error in the self-position (L _se ) detected by the determination unit, and the correction unit is linked to the searched reference pattern image (PI _ss ) and stores it in advance The self-position of the reconnaissance device may be derived as a reference position (L _s ), and the sensed self-position (L _se ) may be corrected to the derived reference position (L _s ).

The photographing unit may include at least one of an optical camera, a thermal imaging camera, and a synthesized aperture radar (SAR).

The reconnaissance device may include at least one of an artificial satellite and an aircraft.

A method of operating a reconnaissance system according to an embodiment of the present invention includes the steps of photographing a location information device installed on the ground using a reconnaissance device with a code unit having a pattern indicating information on an installation location; deriving an absolute location (L _a ), which is an installation location of the location information device, by a reconnaissance device using an image of the location information device; calculating an installation location (L _c ) of the location information device by using the location (L _se ) detected by the reconnaissance device when the location information device is photographed by the reconnaissance device; and comparing the calculated installation location (L _c ) of the location information device with the derived absolute location (L _a ) of the location information device to determine whether there is an error in the self location (L _se ) detected by the reconnaissance device. The process of judging; may include.

a process of preparing a plurality of cell members including a process of providing the location information device; preparing at least two of the plurality of cell members to have different at least one of color, temperature, and reflection coefficient; arranging the plurality of cell members in at least one direction to prepare the pattern in which at least one of color, temperature, and reflection coefficient is adjusted; A process of installing a location information device having a code unit including a plurality of cell members arranged in at least one direction at a predetermined location on the ground; may include.

The process of deriving the absolute position (L _a ) may include: extracting a pattern image (PI _i ) including the pattern from an image captured by the location information device by a reconnaissance device; Searching for a reference pattern image (PI _ss ) identical to the extracted pattern image (PI _i ) among a plurality of previously stored reference pattern images (PI _s ); and a process of deriving the location of the pre-stored location information device as an absolute location (L _a ) in association with the searched reference pattern image (PI _ss ).

In the determination process, if it is determined that there is an error in the detected self-position (L _se ), a process of correcting the self-position (L _se ) detected by the reconnaissance device when the location information device is photographed by the reconnaissance device is performed. and the process of correcting the self-position (L _se ) is a process of deriving the self-position of the reconnaissance device pre-stored in association with the searched reference pattern image (PI _ss ) as the reference position (L _s ) ; and correcting the detected self-position (L _se ) to the derived reference position (L _s ).

The location information device is provided in plural and installed at different positions on the moving path of the reconnaissance device, and the process of photographing the location information device, the process of deriving the absolute position (L _a ) for the location information device, the process of detecting The process of calculating the installation position (L _c ) of the location information device using the obtained self-position (L _se ) and the process of determining whether or not there is an error in the self-position (L _se ) detected by the reconnaissance device are may be performed each time it passes through each of the plurality of location information devices.

According to the embodiments of the present invention, it is possible to quickly determine whether or not there is an error in the self-position detected by the reconnaissance device using the location information device having a pattern indicating information on the installation location. That is, compared to the conventional method of identifying position errors by transmitting the calculated photographing coordinates and photographed images to the ground, the position of the ground reference point (GCP) can be automatically identified by the reconnaissance device itself. Accordingly, in the case where there is an error in the self-position of the reconnaissance device, the self-position can be quickly corrected.

1 is a diagram showing configurations of a reconnaissance device moving along a track, a location information device installed on the ground, and a ground device in order to explain a reconnaissance system and its operating method according to an embodiment of the present invention.
2 is a block diagram conceptually showing the configuration of a reconnaissance device and a ground device according to an embodiment of the present invention.
Figure 3 (a) is a diagram conceptually showing the code unit according to the first embodiment of the present invention, Figure 3 (b) is a pattern image extracted from an image taken by the photographing unit according to the first embodiment is an example of
Figure 4 (a) is a diagram conceptually showing the code unit according to the second embodiment of the present invention, Figure 4 (b) is a pattern image extracted from an image taken by the photographing unit according to the second embodiment is an example of
Figure 5 (a) is a diagram conceptually showing the code unit according to the third embodiment of the present invention, and Figure 5 (b) is a pattern image extracted from an image captured by the photographing unit according to the third embodiment. is an example of
Figure 6 (a) is a diagram conceptually showing the code unit according to the fourth embodiment of the present invention, and Figure 6 (b) is a pattern image extracted from an image captured by the photographing unit according to the fourth embodiment. is an example of
7(a) shows a plurality of reference pattern images (PI _s ) stored in the absolute position derivation unit according to an embodiment of the present invention, and an absolute location information device, which is the parent of each reference pattern image (PI _s ). Position (L _a ) and reference position (L _s ), which is the position of the reconnaissance device stored in association with each reference pattern image (PI _s ), is a position information table, and FIG. It is a diagram showing an example of the extracted pattern image (PI _i ).
8 is a flowchart illustrating a method of operating a reconnaissance system according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, only these embodiments will complete the disclosure of the present invention, and will fully cover the scope of the invention to those skilled in the art. It is provided to inform you. In order to explain the embodiments of the present invention, the drawings may be exaggerated, and the same reference numerals in the drawings refer to the same components.

The present invention relates to a reconnaissance system capable of quickly determining whether or not there is an error in a self-position detected by a reconnaissance device and quickly correcting a self-position, and a method for operating the same.

Here, the reconnaissance device may be a device having a photographing unit to photograph the ground while moving in the air. As a more specific example, the reconnaissance device may be an aircraft or an artificial satellite launched out of the earth.

1 is a diagram showing configurations of a reconnaissance device moving along a track, a location information device installed on the ground, and a ground device in order to explain a reconnaissance system and its operating method according to an embodiment of the present invention. 2 is a block diagram conceptually showing the configuration of a reconnaissance device and a ground device according to an embodiment of the present invention.

The reconnaissance system has a photographing unit 1200 capable of photographing the ground, a reconnaissance device that can move while flying in the air, a ground device 2000 installed on the ground to control or control the operation of the reconnaissance device, and absolute location information. It may include a location information device 3000 fixedly installed on the ground to provide information.

A reconnaissance system including the reconnaissance device, the ground device 2000, and the location information device 3000 may be referred to as a reconnaissance facility.

First, a reconnaissance device will be described with reference to FIGS. 1 and 2 . At this time, an artificial satellite will be described as an example of a reconnaissance device.

The artificial satellite 1000 may be a satellite for reconnaissance or observation by photographing the ground outside the earth E. More specifically, the artificial satellite 1000 may be a satellite that is launched out of the earth E and captures images or images of the ground. That is, the artificial satellite 1000 may be a satellite that acquires images or images of a reconnaissance target location or a reconnaissance target area while moving along a preset trajectory O. At this time, the reconnaissance target location may be, for example, an area requiring surveillance militarily, that is, the enemy's homeland, and thus the artificial satellite 1000 may be a satellite called a reconnaissance satellite. More specifically, the artificial satellite may be a low earth orbit (LEO) reconnaissance satellite.

Referring to FIGS. 1 and 2 , the artificial satellite 1000 receives power or electric energy by receiving the main body 1100, the photographing unit 1200 installed in the main body 1100 to capture images or images, and sunlight. It may include a panel 1300 mounted on the outside of the main body 1100 so as to be created.

In addition, the artificial satellite 1000 includes an antenna 1400 installed in the main body 1100 to transmit signals to the outside or receive external signals, a propulsion unit 1500 that provides driving force for movement, and adjusts or controls the orientation direction. It may include a posture control unit 1600 and a position detection unit 1700 capable of grasping or detecting self-localization. The antenna 1400, the propulsion unit 1500, the posture controller 1600, and the position sensor 1700 may be installed in the main body 1100.

In addition, the artificial satellite 1000 includes components requiring fuel, for example, a fuel tank for supplying fuel to the propulsion unit 1500, a battery for supplying power to various devices or devices requiring power, and a photographing unit 1200. ) It may further include a memory for storing data such as an image generated in, various electronic devices (not shown), and other parts. These fuel tanks, batteries, and various electronic devices may be installed in the main body 1100.

The main body 1100 constitutes the frame of the mission satellite and may be made of metal or composite material. For example, the body 1100 may be provided with at least one of a frame and a panel made of metal or a composite material.

The panel 1300 is a means for receiving sunlight and converting it into electric power or electrical energy, and may be a solar cell panel or a solar panel.

The photographing unit 1200 is a means for capturing an image, and for example, the photographing unit 1200 may be a means including an optical camera. As described above, the photographing unit 1200 may capture both images and images. For convenience of description, it will be collectively described that the photographing unit 1200 captures images.

The photographing unit 1200 prepares or implements an image using photographed data. At this time, the photographing unit 1200 prepares an image to include various data. That is, an image is implemented or prepared to include information such as the position of the artificial satellite 1000 (at least one of longitude, latitude, and altitude) and the shooting time, as well as a visual image of the shooting position. In addition, an image is implemented by reflecting the location (at least one of longitude, latitude, and altitude) of the artificial satellite 1000 at the time of capturing. That is, the photographing unit 1200 may correct the photographed image using the self-localization (L _se ) of the artificial satellite at the time of photographing.

Here, the magnetic position (L _se ) of the artificial satellite 1000 is a position detector 1700 using various types of sensors such as a star sensor, a geomagnetic sensor, a sun sensor, an inertial navigation system, and a global navigation satellite system (GNSS). It can be sensed from , and the quality of the image may vary according to the sensed magnetic position (L _se ). That is, when the self-position (L _se ) sensed by the position detector 1700 is accurate, an image of good or normal quality can be obtained. However, when the magnetic position L _se sensed by the position sensor 1700 is not accurate due to external factors, the image may be distorted. That is, a non-target image may be obtained.

In the above, it has been described that the photographing unit 1200 includes an optical camera as an example. However, the photographing unit 1200 is not limited thereto and may be a means including a thermal imaging camera or a means including a synthesized aperture radar (SAR).

When the photographing unit 1200 includes a thermal imaging camera, the photographing unit 1200 may implement images expressed in different colors according to the temperature of the photographing location. That is, the photographing unit 1200 may implement an image obtained by converting the detected temperature into a color, and may implement an image displayed in different colors according to the temperature. More specifically, an image representing the temperature sensed for each pixel in color may be implemented.

In addition, when the photographing unit 1200 includes a synthetic aperture radar (SAR), the photographing unit 1200 may emit radio waves to a photographing position and implement an image using reflected waves. That is, the photographing unit 1200 may implement images expressed in different colors according to the amount or size of radio waves returning from the photographing position. In this case, the amount or magnitude of radio waves returning from the capturing location may vary depending on the reflection characteristics of the capturing location, and the reflection characteristics may vary depending on the reflection coefficient of the capturing location.

The propulsion unit 1500 is a means for providing thrust so that the artificial satellite can enter orbit in outer space, move to another orbit, adjust attitude, or change speed. The propulsion unit 1500 may be operated by at least one of fuel and electric power.

The attitude control unit 1600 is a means for directing the artificial satellite 1000 in a desired direction on the orbit O. That is, the posture control unit 1600 adjusts the orientation direction of the artificial satellite 1000 to correct the position to be photographed or adjusts the orientation direction of the artificial satellite 1000 so that the panel 1300 receives sunlight. can be a means The attitude control unit 1600 may include, for example, an actuator that provides a driving force capable of changing the attitude of the artificial satellite 1000 . Here, the driver may include, for example, at least one of a reaction wheel, a magnetic torquer, and a control moment gyroscope.

The position sensor 1700 is a means for detecting or sensing the current position of the artificial satellite 1000 . That is, the position detector 1700 may detect the orbit O on which the artificial satellite 1000 is moving and the position on the orbit O. More specifically, the position detector 1700 may detect at least one of latitude and longitude on the earth E and altitude from the ground as the magnetic position L _se of the artificial satellite 1000 . The location sensor 1700 may, for example, use at least one of a star tracker, a sun sensor, a magnetometer, a Global Positioning System (GPS), and an inertial navigation system. can include

The artificial satellite 1000 moves along an orbit O. In addition, the self-position (L _se ) can be sensed in real time using the position sensor 1700 . At this time, for example, if an error occurs in the magnetic position L _se detected at one position on the orbit O due to external factors, etc., the magnetic position L _se detected while moving along the orbit O later ) can cause errors. This is because the self-position at the present time is detected, tracked, or calculated using the self-position at the previous time. Therefore, it is necessary to periodically check whether there is an error in the magnetic position (L _se ) sensed by the position sensor 1700 of the artificial satellite 1000 and correct it. In this case, the occurrence of errors in the magnetic position (L _se ) detected by the artificial satellite 1000 moving along the orbit (O) can be reduced, and the magnetic position (L _se ) can be detected more accurately. Accordingly, it is possible to prevent or suppress distortion of an image captured by the photographing unit 1200 .

The ground device 2000 controls the position of the artificial satellite 1000 by using the location information obtained using the control unit 2100 that controls or controls the operation of the artificial satellite 1000 and the location information device 3000 to be described later. A processing unit 2200 capable of determining whether there is an error in the magnetic position (L _se ) detected by the sensor 1700 and correcting the detected magnetic position (L _se ) according to the determination result may be included. .

Also, the ground device 2000 may include a synthesis unit 2300 that synthesizes images transmitted from the photographing unit 1200 .

The control unit 2100 controls the operation of at least one of the photographing unit 1200, the panel 1300, the propulsion unit 1500, the posture controller 1600, and the position sensor 1700 constituting the artificial satellite 1000. or control More specifically, the controller 2100 operates the photographing unit 1200 to capture an image when the satellite 1000 reaches the target location, or moves the satellite 1000 at a moving speed or a moving trajectory. The operation of the propulsion unit 1500 can be controlled so that (O) can be changed, or the operation of the attitude control unit 1600 can be controlled to adjust the attitude of the artificial satellite 1000.

A detailed description of the processing unit 2200 of the ground device 2000 will be described again after the location information device 3000 has been described first.

The location information device 3000 may be fixedly installed on the ground to provide an absolute location to the processing unit 2200 of the ground device 2000. Here, the absolute position (L _a ) may mean an installation position of the location information device 3000 fixedly installed at one location on the ground. The installation location of the location information device 3000, that is, the absolute location (L _a ) may be, for example, location information including latitude, altitude, and longitude. At this time, the location information device 3000 is fixedly installed at a prearranged or prescribed location and does not move. At this time, the location information device may be installed, for example, on the vast ground or ground surface. This location information device 3000 may also be named a Ground Control Point (GCP).

Referring to FIG. 1 , a location information device 3000 includes a code unit 3200 installed on the ground to include a unique pattern representing information on an installation location. Also, the location information device 3000 may include a base part 3100 supporting the code part 3200 and a support part 3300 supporting the base part 3100 .

The support part 3300 is a means for supporting the base part 3100 on which the cord part 3200 is mounted, and may be fixedly installed on the ground. The shape or structure of the support portion 3300 is not particularly limited, and may be provided in any shape or structure as long as the base portion 3100 or the cord portion 3200 can be stably supported and fixed.

The base part 3100 is a means for mounting or supporting the cord part 3200 thereon, and may be mounted on the support part 3300. The base part 3100 is preferably provided in a shape corresponding to the code part 3200. For example, when the code part 3200 has a rectangular shape, it is preferable that the base part 3100 is provided in a rectangular shape. Of course, the base part 3100 may be provided in any shape as long as the cord part 3200 can be securely mounted or fixed thereon.

Figure 3 (a) is a diagram conceptually showing the code unit according to the first embodiment of the present invention, Figure 3 (b) is a pattern image extracted from an image taken by the photographing unit according to the first embodiment is an example of

Referring to FIGS. 1 and 3 , the code unit 3200 includes a plurality of cell members (C: C1 to C16) provided in two or more. That is, a group consisting of a plurality of cell members (C: C1 to C16) is referred to as the code unit 3200. As shown in (a) of FIG. 3 , the code unit 3200 may be provided so that at least two or more cell members among the plurality of cell members C have different colors.

Hereinafter, for convenience of description, a case in which the code unit 3200 includes 16 cell members C: C1 to C16 will be described as an example. In addition, each of the 16 cell members is referred to as first to 16th cell members (C: C1 to C16).

Referring to (a) of FIG. 3 , the cord unit 3200 may include first to sixteenth cell members C (C1 to C16). Also, the overall shape of the code unit 3200 may be, for example, a rectangle. To this end, the first to sixteenth cell members (C: C1 to C16) may be arranged so that the shape of the cord unit 3200 may be a rectangle. That is, the first to sixteenth cell members (C: C1 to C16) intersect the first direction (X-axis direction) and the first direction (X-axis direction) so that the overall arrangement shape can be rectangular. Alternatively, they may be aligned in a second direction (Y-axis direction) orthogonal to each other. In this case, each of the first to sixteenth cell members (C: C1 to C16) may be arranged in a row on the upper surface of the base part 3100 .

Also, at least two of the first to sixteenth cell members C1 to C16 may have different colors. As a more specific example, the code unit may be provided to include seven (first to seventh color) cell members of different colors as shown in (a) of FIG. 3 . At this time, since the number of cell members (C) is 16 and the number of colors is 7, some of the first to 16th cell members (C: C1 to C16) may have different colors and the rest may have the same color. have. As a more specific example, the first and sixteenth cell members C1 and C16 have a first color, and the second, seventh, and thirteenth cell members C2, C7, and C13 have a second color, third and fourth colors. The ninth cell members C3 and C9 have a third color, and the fourth, fifth, twelfth, and fourteenth cell members C4, C5, C12, and C14 have a fourth color, and the sixth, eighth, and fifteenth cell members (C6, C8, C15) may have the fifth color, the eleventh cell member C11 may have the sixth color, and the tenth cell member C10 may have the seventh color. Also, the first to sixteenth cell members C1 to C16 may be arranged in numerical order. That is, as shown in (a) of FIG. 3, four cells are disposed in the first direction (X-axis direction) and four cells are disposed in the second direction (Y-axis direction). C16) can be arranged by arranging them in numerical order.

The color of each position of the code unit 3200 varies according to the color of each of the first to 16th cell members (C: C1 to C16) and the arrangement order of the first to 16th cell members (C: C1 to C16). . That is, the code unit 3200 has a predetermined color distribution by the first to sixteenth cell members C: C1 to C16. In addition, color distribution is changed according to the color of each of the first to 16th cell members (C: C1 to C16) and the arrangement position of each of the first to 16th cell members (C: C1 to C16). This predetermined color distribution may be named 'pattern'. In other words, the code unit 3200 may be described as having a predetermined pattern according to the color and arrangement position of each of the first to sixteenth cell members (C: C1 to C16). Also, the pattern according to the color distribution expresses or indicates the location where the code unit 3200, that is, the location information device 2000 is installed. Thus, the pattern formed by the plurality of cell members (C: C1 to C16) can be described as an 'identifier' that intuitively indicates the installation position, that is, the absolute position L _a .

Also, for example, when a plurality of location information devices 3000 are installed in different locations, the patterns of the code units 3200 of the plurality of location information devices 3000 are different from each other. In addition, the patterns of each code unit 3200 installed at different locations are provided as unique patterns that intuitively indicate each installation location, that is, the absolute location (L _a ). In other words, the plurality of location information devices 3000 having different installation locations (absolute locations L _a ) have different patterns.

The code unit 3200 is provided to obtain an image from the reconnaissance device, for example, the photographing unit 1200 of the artificial satellite 1000. That is, the code unit 3200 identifies the color of each of the plurality of cell members (C: C1 to C16) in an image obtained when the location information device 3000 is photographed by the photographing unit 1200 of the artificial satellite 1000. It can be provided in any size that can be.

In addition, an image of the code unit 3200 having a pattern according to color distribution may be acquired by the photographing unit 1200 including an optical camera. In other words, the photographing unit 1200 including an optical camera may obtain an image in which the colors of each of the first to sixteenth cell members (C: C1 to C16) of the code unit 3200 can be identified. Accordingly, it is preferable that the code unit 3200 having a predetermined pattern prepared by adjusting the color distribution is applied to the artificial satellite 1000 equipped with an optical camera and utilized.

Hereinafter, code units according to second to fourth embodiments of the present invention will be described with reference to FIGS. 4 to 6 .

Figure 4 (a) is a diagram conceptually showing the code unit according to the second embodiment of the present invention, Figure 4 (b) is a pattern image extracted from an image taken by the photographing unit according to the second embodiment is an example of

Figure 5 (a) is a diagram conceptually showing the code unit according to the third embodiment of the present invention, and Figure 5 (b) is a pattern image extracted from an image captured by the photographing unit according to the third embodiment. is an example of

Figure 6 (a) is a diagram conceptually showing the code unit according to the fourth embodiment of the present invention, and Figure 6 (b) is a pattern image extracted from an image captured by the photographing unit according to the fourth embodiment. is an example of

In the above, it has been described that the code unit 3200 has a pattern according to color distribution. That is, the code unit 3200 according to the first embodiment has a pattern formed by each color of the plurality of cell members (C: C1 to C16). However, it is not limited thereto, and the pattern may be implemented in various ways.

For example, a pattern may be formed or realized by adjusting the temperatures of the first to sixteenth cell members (C: C1 to C16). That is, as in the second embodiment shown in (a) of FIG. 4 , at least two of the first to sixteenth cell members (C: C1 to C16) may have different temperatures. As a more specific example, as shown in FIG. can be provided. As a more specific example, the second, seventh, and thirteenth cell members C2, C7, and C13 have a first temperature (eg, 0° C.), and the fourth, fifth, twelfth, and fourteenth cell members. (C4, C5, C12, C14) is the second temperature (eg 10 ° C), the 10th cell member C10 is the third temperature (eg 20 ° C), and the 11th cell member C11 is the fourth temperature temperature (eg 30 ° C), the sixth, eighth and 15th cell members C6, C8 and C15 are the fifth temperature (eg 40 ° C), the first, third, ninth and 16th cells The members C1 , C3 , C9 , and C16 may be prepared to be at the sixth temperature (eg, 50° C.).

The temperature of each of the first to 16th cell members (C: C1 to C16) described above is just an example, and in a temperature range of less than 0 ° C, a temperature range exceeding 50 ° C, a range of 100 ° C or higher, or a range of 500 ° C or higher. It can be variously adjusted.

The temperature of each of the first to sixteenth cell members (C: C1 to C16) may be controlled through a separately provided temperature adjusting member (not shown). That is, the location information device 3000 may include a temperature control member individually connected to each of the plurality of cell members C: C1 to C16. Each of the plurality of temperature control members may include a heater for heating the cell members (C: C1 to C16) and a cooling means for cooling the heater. Here, the heater may be, for example, a means including a resistance heating element, and the cooling means may be, for example, a pipe having a cooling water circulating therein. Of course, the heater and the cooling means are not limited to the above examples, and various means capable of heating and cooling the cell members C: C1 to C16 may be applied.

The temperature distribution varies depending on the temperature of each of the first to 16th cell members (C: C1 to C16) and the arrangement position of the first to 16th cell members (C: C1 to C16). This predetermined temperature distribution may be referred to as a 'pattern'. In other words, the code unit 3200 may be described as having a predetermined pattern according to the temperature and arrangement position of each of the first to sixteenth cell members C (C1 to C16). The pattern according to the temperature distribution of the code unit 3200 intuitively indicates or expresses the location where the location information device 3000 is installed, that is, the absolute location L _a .

In this way, an image of the code unit 3200 having a pattern according to the temperature distribution may be acquired by the photographing unit 1200 including a thermal imaging camera. That is, the photographing unit 1200 including a thermal imaging camera detects the temperature of each of the first to 16th cell members (C: C1 to C16) of the code unit 3200, and measures the detected temperature of the cell member. As shown in (b) of 4, an image can be implemented by converting to color. Accordingly, it is preferable that the code unit 3200 having a predetermined pattern prepared by adjusting the temperature distribution is applied to the artificial satellite 1000 equipped with a thermal imaging camera.

As another example, as shown in FIG. 5(a) in the third embodiment, at least two or more of the first to sixteenth cell members (C: C1 to C16) may have different reflection coefficients. For example, as shown in (a) of FIG. 5, the code unit 3200 includes a cell member C having six different reflection coefficients (first to sixth reflection coefficients M1 to M6). : C1 to C16). More specifically, the second, seventh, and thirteenth cell members C2, C7, and C13 have a first reflection coefficient M1, and the fourth, fifth, twelfth, and fourteenth cell members C4, C5, C12 and C14 are the second reflection coefficient M2, the tenth cell member C10 is the third reflection coefficient M3, the eleventh cell member C11 is the fourth reflection coefficient M4, the sixth and eighth and the 15th cell members C6, C8, and C15 have a fifth reflection coefficient M5, and the first, third, ninth, and sixteenth cell members C1, C3, C9, and C16 have a sixth reflection coefficient M6 ) can be provided.

The reflection coefficient of each of the first to sixteenth cell members (C: C1 to C16) may be determined according to the material or material of the cell member (C: C1 to C16). That is, in preparing each of the first to sixteenth cell members (C: C1 to C16), the reflection coefficient may be determined according to the material for preparing each cell member (C: C1 to C16). In this case, the material may be a metal capable of reflecting radio waves, and cell members having different reflection coefficients may be made of different metals.

The distribution of the reflection coefficient varies depending on the reflection coefficient of each of the first to 16th cell members (C: C1 to C16) and the arrangement position of the first to 16th cell members (C: C1 to C16). This predetermined distribution of reflection coefficients may be referred to as a 'pattern'. In other words, the code unit may be described as having a predetermined pattern according to the reflection coefficient and arrangement position of each of the first to sixteenth cell members (C: C1 to C16). The pattern according to the distribution of the reflection coefficient of the code unit 3200 intuitively indicates or expresses the location where the location information device 3000 is installed, that is, the absolute location (L _a ).

In addition, the amount of reflected propagation may be different according to the reflection coefficient of each of the first to sixteenth cell members (C: C1 to C16). Accordingly, the code unit 3200 having a predetermined pattern prepared by adjusting the reflection coefficient is preferably applied to the artificial satellite 1000 equipped with a synthetic aperture radar (SAR) and utilized.

When radio waves are emitted from the imaging unit 1200 of the artificial satellite 1000, that is, the synthetic aperture radar (SAR), the radio waves are reflected from the code unit 3200 and return to the imaging unit 1200. At this time, a plurality of cell members ( The amount of propagation reflected from each cell member (C: C1 to C16) may vary depending on the characteristics of the reflection coefficients of each of C: C1 to C16). Accordingly, the photographing unit 1200 including a synthetic aperture radar (SAR) detects the amount of radio waves reflected from each of the first to 16th cell members (C: C1 to C16) of the code unit 3200, An image may be implemented by converting the amount of propagation of the cell members (C: C1 to C16) into colors. Accordingly, it is preferable that the code unit 3200 having a predetermined pattern prepared by adjusting the distribution of the reflection coefficient is applied to and utilized in the artificial satellite 1000 equipped with a synthetic aperture radar (SAR).

As another example, as in the fourth embodiment shown in (a) of FIG. 6 , the code unit 3200 may be formed in a pattern having all of color distribution, temperature distribution, and reflection coefficient distribution. In other words, it may be prepared as a complex pattern including all of the patterns of the first to third embodiments described above. The code unit 3200 is captured by any one of the artificial satellite 1000 including an optical camera, the artificial satellite 1000 including a thermal imaging camera, and the artificial satellite 1000 including a synthetic aperture radar (SAR). Even if the image is performed, the image may be captured. That is, for example, when the artificial satellite 1000 including an optical camera captures the code unit 3200 according to the fourth embodiment, an image in which the color of each of the plurality of cell members C: C1 to C16 is identified. An image including may be obtained. As another example, when the artificial satellite 1000 including a thermal imaging camera photographs the code unit 3200 according to the fourth embodiment, the temperature of each of the plurality of cell members C: C1 to C16 is sensed, and the detected An image including an image as shown in (c) of FIG. 6 obtained by converting temperature into color may be acquired. As another example, when the artificial satellite 1000 including a synthetic aperture radar (SAR) photographs the code unit 3200 according to the fourth embodiment, a plurality of cell members (C: C1 to C16) are reflected from each of them. An image including an image as shown in (d) of FIG. 6 obtained by detecting the amount of radio waves and converting the detected amount of radio waves into colors may be acquired.

The location information device 3000 according to these embodiments may be installed on the ground. Also, a plurality of location information devices 3000 may be provided, and the plurality of location information devices 3000 may be installed in different locations. Also, the plurality of location information devices 3000 installed at different locations may be provided to have different patterns. Also, the plurality of location information devices 3000 may be provided with one of the code units 3200 according to the first to fourth embodiments described above.

Again, the processing unit 2200 of the ground device 2000 will be described.

Referring to FIG. 2 , the processing unit 2200 converts an image of a pattern represented by the code unit 3200 of the location information device 3000 from an image captured by the location information device 3000 (hereinafter, a pattern image PI _i ). The extraction unit 2210 for extracting, searches for a reference pattern image (PI _ss ) identical to the extracted pattern image (PI _i ) among a plurality of previously stored reference pattern images (PI _s ), and searches for the searched reference pattern image (PI An absolute position derivation unit 2220 for deriving the installation position of the position information device 3000 stored in association with _ss as an absolute position (L _a ) may be included.

In addition, the processing unit 2200 uses the self-position (L _se ) sensed when the location information device 3000 is photographed by the photographing unit 1200 of the artificial satellite 1000 to determine the location (L) of the location information device 3000. _c ) is calculated or obtained, and the calculated location (L _c ) of the location information device 3000 is compared with the derived absolute location (L _a ) of the location information device 3000 to determine the detected self-position (L _se ). It includes a determination unit 2230 that determines whether or not there is an error.

And, processing unit 2200 determines that there is an error in self-position (L _se ) detected by determination unit 2230, photographing unit 1200 of artificial satellite 1000 photographs location information device 3000. It may include a correction unit 2240 that corrects the magnetic position (L _se ) detected by the position detection unit 1700 when the position is detected.

When the artificial satellite 1000 moves along the orbit O and reaches a position close to the location information device 3000, the photographing unit 1200 of the artificial satellite 1000 photographs the location information device 3000. Thus, an image including the location information device 3000 is obtained. The location information device 3000 includes the code unit 3200 as described above, and the code unit 3200 has a unique pattern.

An image captured by the location information device 3000 by the photographing unit 1200 of the artificial satellite 1000 is transmitted to the processing unit 2200 of the ground device 2000, more specifically to the extraction unit 2210. Then, the extraction unit 2210 extracts the code unit 3200 from the transmitted image. That is, the extraction unit 2210 extracts an image of the code unit 3200 included in the image, in other words, an image of a pattern included in the code unit 3200 (hereinafter, a pattern image PI _i ).

Hereinafter, a pattern image (PI _i ) extracted from an image captured by the photographing unit 1200 by the extraction unit 2210 will be described.

For example, the photographing unit 1200 of the artificial satellite 1000 includes an optical camera, and the location information device 3000 photographed by the photographing unit 1200 is as shown in (a) of FIG. In the case of having the code unit 3200 , the pattern image PI _i extracted by the extraction unit 2210 may be, for example, shown in (b) of FIG. 3 . That is, the image captured by the photographing unit 1200 may include an image in which the color of each of the plurality of cell members (C: C1 to C16) is identified, and thus the pattern image (PI _i ) extracted by the extraction unit 2210 ) may be extracted as an image in which the color of each of the plurality of cell members C: C1 to C16 is identified, as shown in (b) of FIG. 3 .

As another example, as shown in FIG. In the case of including the code unit 3200 having a pattern according to the temperature distribution, the pattern image PI _i extracted by the extraction unit 2210 may be, for example, shown in (b) of FIG. 4 . That is, the image captured by the photographing unit 1200 may include an image obtained by converting the temperature of each of the plurality of cell members (C: C1 to C16) into colors, and thus the pattern image extracted by the extraction unit 2210 ( PI _i ) may be extracted as an image in which the color of each of the plurality of cell members C: C1 to C16 is identified, as shown in (b) of FIG. 4 .

As another example, the photographing unit 1200 of the artificial satellite 1000 includes a synthetic aperture radar (SAR), and the location information device 3000 photographed by the photographing unit 1200 is shown in (a) of FIG. In the case of including the code unit 3200 having a pattern according to the reflection coefficient as shown, the pattern image PI _i extracted by the extraction unit 2210 may be, for example, shown in (b) of FIG. 5 . That is, the image captured by the photographing unit 1200 may include an image obtained by converting the reflectance of each of the plurality of cell members (C: C1 to C16), and thus the pattern image (PI _i ) extracted by the extraction unit 2210. ) may be extracted as an image in which the color of each of the plurality of cell members C: C1 to C16 is identified, as shown in (b) of FIG. 5 .

The pattern image PI _i extracted by the extraction unit 2210 is transmitted to the absolute position derivation unit 2220 .

7(a) shows a plurality of reference pattern images (PI _s ) stored in the absolute position derivation unit according to an embodiment of the present invention, and an absolute location information device, which is the parent of each reference pattern image (PI _s ). It is a location information table that organizes the location (L _a ) and the reference location (L _s ), which is the self location of the reconnaissance device, stored in association with each reference pattern image (PI _s ). And Figure 7 (b) is a diagram showing an example of the pattern image (PI _i ) extracted by the extraction unit. And Figure 7 (b) is a diagram showing an example of the pattern image (PI _i ) extracted by the extraction unit.

In (a) of FIG. 7, 'n' may be the number of location information devices 3000 included or installed in the reconnaissance system. In addition, 'first, second,...' are provided to each of the plurality of location information devices 3000. , n-1th, n'th, and so on.

In the absolute position derivation unit 2220, images obtained by photographing each of the plurality of code units 3200 (hereinafter referred to as reference pattern images (PI _s : PI _s1 , PI _s2 , ..., PI _sn-1 , PI _sn )) and , Absolute positions, which are the installation positions of the location information devices 3000 stored in association with each reference pattern image (PI _s : PI _s1 , PI _s2 , …, PI _sn-1 , PI _sn ) (L _a : La _a1 , _La2 ,…,L _an-1 , L _an ) are stored.

Here, the reference pattern images (PI _s : PI _s1 , PI _s2 , ..., PI _sn-1 , PI _sn ) are pattern images (PI _i ) may be a reference image prepared in advance for comparison. In addition, each reference pattern image (PI _s : PI _s1 , PI _s2 , ..., PI _sn-1 , PI _sn ) is obtained by photographing the location information device 3000 that is the parent of each satellite 1000 at an ideal position. may have been obtained. Here, the ideal position of the artificial satellite 1000 may mean a position where the code unit 3200 of the location information device 3000 or its pattern can be best photographed. These reference pattern images (PI _s : PI _s1 , PI _s2 , ..., PI _sn-1 , PI _sn ) are stored in the absolute position derivation unit 2220 .

And, the absolute position (L _a : La _a1 , _La2 ,...,L _an-1 , L _an ) is the location of the location information device installed on the ground. That is, the absolute position (L _a : La _a1 , _La2 ,…,L _an-1 , L _an ) is the parent of the reference pattern image (PI _s : PI _s1 , PI _s2 , …,PI _sn-1 , PI _sn ) may be the installation location of the location information device. At this time, the plurality of location information devices 3000 installed on the ground have different installation locations, and the plurality of location information devices 3000 at different installation locations have different patterns. Accordingly, the absolute positions L _a stored in association with each reference pattern image (PI _s : PI _s1 , PI _s2 , ..., PI _sn-1 , PI _sn ): L _a1 , L _a2 , ... , L _an-1 , L _an ) are all different. In other words, all the installation positions (absolute positions) of the location information device 3000 stored in matching with each reference pattern image (PI _s : PI _s1 , PI _s2 , …, PI _sn-1 , PI _sn ) different.

In addition, the reference position (L _s : L _s1 , L _s2 , , L _sn-1 , L _s ) is a position in the air for a reconnaissance device, that is, an artificial satellite. More specifically, each reference position (L _s : L _s1 , L _s2 , , L _sn-1 , L _s ) corresponds to each reference pattern image (PI _s : PI _s1 , PI _s2 , …, PI _sn-1 , PI _sn ) and the magnetic position of the artificial satellite that is stored. That is, each reference position (L _s : L _s1 , L _s2 , , L _sn-1 , L _s ) corresponds to each reference pattern image (PI _s : PI _s1 , PI _s2 , …, PI _sn-1 , PI _sn ) It may mean the magnetic position of the artificial satellite 1000 when it was photographed or obtained. In other words, each reference position (L _s : L _s1 , L _s2 , , L _sn-1 , L _s ) is in the air of the artificial satellite 1000 that can best capture each location information device 3000 can mean the magnetic position of

Accordingly, in the absolute position derivation unit 2220 or the position information table provided in the absolute position derivation unit 2220, each reference pattern image (PI _s : PI _s1 , PI _s2 , …, PI _sn-1 , PI _sn ) And, two positions for each reference pattern image (PI _s : PI _s1 , PI _s2 , ..., PI _sn-1 , PI _sn ) are linked and stored. That is, for each of the plurality of reference pattern images (PI _s : PI _s1 , PI _s2 , …, PI _sn-1 , PI _sn ), the absolute position (L _a ) and a reference position (L _s ) (magnetic position of the artificial satellite), which is a position in the air, are stored. As such, since the absolute position (L _{a ) and reference position (L s ) are stored in association with each reference pattern image, this means that the absolute position (L a ) and reference position (L s ) are} stored in each reference pattern image. may be explained.

In more detail with reference to (a) of FIG. 7 , the absolute position deriving unit 2220 includes a first reference pattern image PI _s1 captured by the first location information device and a first reference pattern image PI _s1 The magnetic position of the artificial satellite 1000 linked to the first absolute position (L _a1 ) and the first reference pattern image (PI _s1 ), which is the installation position of the first position information device, which is the parent of , that is, the first reference position (L _s1 ) is stored.

In addition, a second reference pattern image (PI _s2 ) photographing the second location information device, a second absolute position (L _a2 ) that is an installation location of the second location information device, which is the parent of the second reference pattern image (PI _s2 ), and The magnetic position of the artificial satellite 1000 associated with the second reference pattern image PI _s2 , that is, the second reference position L _s2 is stored.

In addition, of the n-1th location information device, which is the parent of the n-1th reference pattern image (PI _sm-1 ) and the n-1th reference pattern image (PI _sm -1 ) captured by the n-1th location information device. The installation position n-1th absolute position (L _an-1 ), the magnetic position of the artificial satellite 1000 associated with the n-1th reference pattern image (PI _sn-1 ), that is, the n-1th reference position (L _s-1 ), the nth reference pattern image (PI _sm ) _{photographing} the nth position information device, and the nth absolute position (L _an ) and the magnetic position of the artificial satellite 1000 linked to the nth reference pattern image PI _sn-1 , ie, the nth reference position L _sn , is stored.

Accordingly, the absolute position derivation unit 2220 compares a plurality of stored reference pattern images (PI _s : PI _s1 , PI _s2 , ..., PI _sn-1 , PI _sn ) with the extracted pattern image (PI _i ) Thus, the same reference pattern image as the extracted pattern image PI _i is searched for. Also, the absolute position derivation unit 2220 derives the position associated with the searched reference pattern image PI _ss as the absolute position L _a . For example, when the extracted pattern image (PI _i ) is the same as the first reference pattern image (PI _s1 ) among the plurality of reference pattern images (PI _s ), the absolute position deriving unit 2220 obtains the first reference pattern The first absolute position (L _a1 ) stored in association with the image (PI _s1 ) is derived as the absolute position (L _a ).

Meanwhile, as described above, the plurality of location information devices 3000 are installed at different locations, and the location information devices 3000 installed at different locations have different patterns. That is, the shape of the code unit 3200 is different. Accordingly, for example, the pattern image PI ₁ obtained by photographing the first location information device is the same as the second reference pattern image PI _s2 other than the first reference pattern image PI _s1 . cannot be judged to be

When the location information device 3000 is photographed by the photographing unit 1200 of the artificial satellite 1000, the location information device 3000 is captured by using the self-position (L _se ) detected by the location sensor 1700 of the satellite 1000. ) calculates the position of And the calculated position (L _c ) is transmitted to the determination unit 2230 of the processing unit 2200 .

The determination unit 2230 compares the absolute position L _a derived from the absolute position deriving unit 2220 with the calculated position L _c . And, if the calculated position (L _c ) is the same as the derived absolute position (L _a ), it is determined that there is no error in the magnetic position (L _se ) sensed by the position sensor 1700 of the artificial satellite 1000. . However, if the calculated position (L _c ) is different from the derived absolute position (L _a ), it is determined that there is an error in the magnetic position (L _se ) sensed by the position sensor 1700 of the artificial satellite.

In other words, determining whether or not the self-position (L _se ) detected by the determination unit 2230 is an error is as follows. The determination unit 2230 compares two ground positions, which are positions for the position information device 3000, in determining an error with respect to the position detected by the artificial satellite 1000. That is, the determination unit 2230 determines the location L _c (ground position) of the location information device obtained using the detected own location L _se and the location information device derived from the absolute location derivation unit 2220. Compare the absolute position (L _a ) (ground position).

The correction unit 2240 may operate according to a result of the determination by the determination unit 2230 . That is, when the determination unit 2230 determines that there is no error in the detected magnetic position (L _se ), the correction unit 2240 does not _operate , and the determination unit ( When determined in step 2230, the correction unit 2240 may operate.

The correction unit 2240 corrects the magnetic position (L _se ) of the artificial satellite 1000 detected by the position sensor 1700 of the artificial satellite 1000 . That is, when the photographing unit 1200 of the artificial satellite 1000 photographs the location information device 2000, the determination unit 2230 determines that an error has occurred in the self-position (L _se ) detected by the position sensor 1700. If it is determined in , the correction unit 2240 corrects the sensed magnetic position (L _se ).

To describe a more specific example, the extracted pattern image (PI _i ) is the same as the first reference pattern image (PI _s1 ) among the plurality of reference pattern images (PI _s ), so that the absolute position derivation unit 2220 first 1 Assume that the absolute position (L _a1 ) is derived as the absolute position (L _a ).

If the determination unit 2230 determines that there is an error in the self-position (L _se ), the correction unit 2240 is a reconnaissance device stored in association with the searched reference pattern image (PI _ss ), that is, the magnetic position of the artificial satellite 1000. The reference position (L _s ) is derived from the position. For example, when the extracted pattern image (PI _i ) is the same as the first reference pattern image (PI _s1 ), the correction unit 2240 is associated with the first reference pattern image (PI _s1 ) and stores the artificial satellite ( 1000), the first reference position (L _s1 ), which is its own position, is derived as the reference position (L _s ).

Then, the correction unit 2240 corrects the detected self-position (L _se ) to the derived reference position (L _s ), that is, the first reference position (L _s1 ). Here, correcting the detected magnetic position (L _se ) to the first reference position (L _s ) means changing, replacing, or replacing the detected magnetic position (L _se ) value with the first reference position (L _s1 ) value. It may mean that In other words, the detected magnetic position (L _se ) of the artificial satellite 1000 in the air is corrected to a first reference position (L _s ), which is the magnetic position of the artificial satellite 1000 stored in advance. Accordingly, the corrected magnetic position L _se-co may be the same as the first reference position L _s1 . In other words, a magnetic position (L _se-co ) obtained by correcting the detected magnetic position (L _se ) may be the same as the first reference position (L _s1 ).

Also, the correction unit 2240 may correct or correct the setting value or setting conditions of the position sensor 1700 . That is, when the location information device 2000 is photographed, the self position (L _se ) detected or calculated by the position sensor 1700 is the reference position (L _s ) derived from the absolute position deriving unit 2220. For example, the first A setting value or setting condition of the position sensor 1700 may be corrected or corrected so as to become the reference position L _s1 . Here, modifying or correcting a set value or setting condition of the position sensor 1700 may mean a value or condition used for detecting or calculating the self-position (L _se ) in the position sensor 1700 .

In the above, it has been described that the processing unit 2200 is provided in the ground device 2000 . However, the processing unit 2200 is not limited thereto and may be provided in a satellite device. That is, the processing unit 2200 including the extraction unit 2210, the absolute position derivation unit 2220, the determination unit 2230, and the correction unit 2240 may be mounted on the main body 1100 of the artificial satellite 1000. . That is, the artificial satellite 1000 may include the processing unit 2200 as described above. In this case, the absolute position (L _a ) of the location information device 3000 is derived, the magnetic position (L _se ) obtained from the artificial satellite 1000 is compared with the derived absolute position (L _a ), or the artificial satellite ( 1000) may be derived as the reference position (L _s ) or correcting the self-position (L _se ) to the derived reference position (L _s ) in the artificial satellite 1000 itself. In addition, correction of the self-position (L _se ) to the derived reference position (L _s ) can be performed in the artificial satellite 1000 itself. In addition, the difference between the self-position (L _se ) and the reference position (L _s ) A correction value is generated according to , and according to the correction value, the artificial satellite 1000 may self-adjust its attitude using the attitude control unit 1600 .

8 is a flowchart illustrating a method of operating a reconnaissance system according to an embodiment of the present invention.

Hereinafter, a method of operating a reconnaissance system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3, 7 and 8. In this case, a case in which the reconnaissance device is the artificial satellite 1000 and the artificial satellite includes an optical camera will be described as an example.

When the artificial satellite 1000 moving along the orbit O reaches a position where the location information device 3000 installed on the ground can be captured, the location information device 3000 is photographed using the artificial satellite 1000. (S100).

At this time, the position sensor 1700 of the artificial satellite 1000 detects the position of the artificial satellite 1000, that is, its own position (L _se ). Then, the photographing unit 1200 calculates or obtains the location (L _c ) of the location information device 3000 using the captured image and the detected self-position (L _se ) (S200).

The image captured by the location information device 3000 from the artificial satellite 1000, the position obtained using the self-position (L _{se ) detected by the position detector 1700 and the detected self-position (L se )} during the capture The position L _c of the information device 3000 is transmitted to the processing unit 2200 of the ground device 2000.

The processing unit 2200 determines whether there is an error in the self-position (L _se ) sensed by the position detection unit 1700 (S300). More specifically, the extraction unit 2210 of the processing unit 2200 extracts a pattern image PI _i from an image transmitted from the photographing unit 1200, that is, an image captured by the location information device 3000 (S310). ). For example, the photographing unit 1200 of the artificial satellite 1000 includes an optical camera, and the location information device 3000 photographed by the photographing unit 1200 is as shown in (a) of FIG. In the case of having the code unit 3200, the pattern image PI _i extracted by the extraction unit 2210 may be the same as, for example, FIG. 7(b). That is, the image captured by the photographing unit 1200 may include an image in which the color of each of the plurality of cell members (C: C1 to C16) is identified, and thus the pattern image (PI _i ) extracted by the extraction unit 2210 ) may be extracted as an image in which the color of each of the plurality of cell members C: C1 to C16 is identified, as shown in (b) of FIG. 7 .

Next, the absolute position deriving unit 2220 compares the plurality of stored reference pattern images PI _s with the extracted pattern image PI _i . Also, the absolute position deriving unit 2220 searches for the same reference pattern image PI _ss as the extracted pattern image PI _i among the plurality of reference pattern images PI _s (S320).

Then, the absolute position deriving unit 2220 derives the installation position of the position information device 3000 for the searched reference pattern image Pi _ss as an absolute position L _a (S330). In other words, the absolute position derivation unit 2220 is stored in the searched reference pattern image Pi _ss or stored in association with the searched reference pattern image Pi _ss for the position information device 3000 The installation location is derived as an absolute location (L _a ) (S330). For example, when the extracted pattern image (PI _i ) is the same as the first reference pattern image (PI _s1 ) among the plurality of reference pattern images (PI _s ), the absolute position deriving unit 2220 obtains the first reference pattern image ( The first absolute position (L _a1 ), which is the installation position of the first location information device, which is the parent of PI _s1 ), is derived as the absolute position (L _a ).

Next, the determination unit 2230 determines the position (L _c ) of the location information device obtained by using the first absolute position (L _a1 ) derived from the absolute position deriving unit (2220) and the detected magnetic position (L _c ). Compare (S340). At this time, when the obtained position (L _c ) is the same as the derived first absolute position (L _a1 ), it is assumed that there is no error in the magnetic position (L _se ) detected by the position sensor 1700 of the satellite 1000. judge Accordingly, the determination unit 2230 determines that correction of the self-position (L _se ) is unnecessary (S351).

However, if the obtained position (L _c ) is different from the derived absolute position (L _a ), it is determined that the magnetic position (L _se ) detected by the position sensor 1700 of the artificial satellite 1000 has an error. . Accordingly, the determination unit 2230 determines that correction of the self-position (L _se ) is necessary (S352).

If it is determined by the determination unit 2230 that correction of the position (L _se ) is necessary, the correction unit 2240 corrects the position (L _se ) (S400). To this end, the correction unit 2240 derives the self-position of the artificial satellite 1000 with respect to the searched reference pattern image PI _ss as the reference position L _s (S410). In other words, the correction unit 2240 derives the magnetic position of the artificial satellite 1000 stored in association with the searched reference pattern image PI _ss as the reference position L _s (S410).

For example, when the extracted pattern image (PI _i ) is the same as the first reference pattern image (PI _s1 ), the correction unit 2240 is associated with the first reference pattern image (PI _s1 ) and stores the artificial satellite ( 1000), that is, the first reference position (L _s1 ) is derived as the reference position (L _s ). Then, the correction unit 2240 corrects the detected self-position (L _se ) to the first reference position (L _s1 ) that is the derived reference position (L _s ) (S420). In other words, the correction unit 2240 replaces or corrects the sensed magnetic position (L _se ) with the first reference position (L _a1 ). Accordingly, the self-position (L _se-co ) corrected by the correction unit 2240 becomes the first reference position (L _s1 ).

When the process of determining whether there is an error in the self-position (L _se ) and the correction of the self-position (L _se ) are completed, the artificial satellite 1000 moves to a position where the reconnaissance target position can be photographed (S500). Then, the reconnaissance target location is photographed using the photographing unit 1200 of the artificial satellite 1000 (S600).

The image of the reconnaissance target location may be corrected using the self-position detected by the position sensor 1700 when the reconnaissance target location is captured. At this time, since the location information device 2000 is photographed and the self-position is corrected before capturing the reconnaissance target position, there is no error in the self-position detected when the reconnaissance target position is photographed, or the error is very small. Accordingly, an image without distortion or with minimized distortion can be generated.

The images corrected by using the self-position are transmitted to the synthesis unit 2300, and the synthesis unit 2300 synthesizes the images (S700).

In this way, it is possible to quickly determine whether or not there is an error in the self-position (L _se ) sensed by the reconnaissance device by using the identification symbol indicating information on the installation location, that is, the location information device 2000 having a pattern. That is, the location of the location information device 2000 can be grasped more intuitively than in the prior art, and it is possible to quickly determine whether or not there is an error in the self-position (L _se ) sensed by the reconnaissance device. In addition, when there is an error in the magnetic position (L _se ), the magnetic position (L _se ) can be quickly corrected.

1000: artificial satellite 3200: code part
C: no cell

Claims (14)

A reconnaissance device having a photographing unit capable of capturing an image and a position detecting unit capable of detecting a self-localization (L _se ) and movable in the air;
a ground device installed on the ground to synthesize images transmitted from the photographing unit and to control the operation of the reconnaissance device;
a location information device having a code unit having a plurality of cell members aligned and arranged in at least one direction to form a pattern indicating information on an installation location, and installed on the ground; and
A processing unit capable of determining whether or not there is an error in the self-position (L _se ) sensed by the location sensor when the location information device is captured by the capture unit, using an image captured by the location information device by the capture unit. including;
The processing unit is installed to be provided in any one of the reconnaissance device and the ground device,
At least two of the plurality of cell members are provided to have different temperatures,
The location information device includes a temperature control member connected to the cell member to adjust temperature. delete delete delete The method of claim 1,
The location information device is provided in plurality,
The reconnaissance system according to claim 1 , wherein the plurality of location information devices are installed at different locations on a moving route of the reconnaissance device. The method of claim 1,
The processing unit,
an extraction unit extracting a pattern image PI _i including the plurality of cell members from an image captured by the location information device by the photographing unit;
Among a plurality of pre-stored reference pattern images (PI _s ), a reference pattern image (PI _ss ) identical to the extracted pattern image (PI _i ) is searched, and pre-stored in association with the searched reference pattern image (PI _ss ) an absolute position derivation unit for deriving the position of the position information device as an absolute position (L _a ); and
When the photographing unit photographs the location information device, the location (L _c ) of the location information device is calculated using the location (L _se ) detected by the location sensor, and the location (L of the location information device) is calculated. _c ) and the derived absolute position (L _a ), and a determination unit that determines whether or not the sensed self-position (L _se ) is an error. The method of claim 6,
The processing unit includes a correction unit that operates when it is determined that there is an error in the magnetic position (L _se ) sensed by the determination unit,
The correction unit derives a pre-stored magnetic position for the reconnaissance device in association with the searched reference pattern image PI _ss as a reference position L _s , and derives the detected magnetic position L _se . A reconnaissance system that calibrate to the reference position (L _s ). According to claim 1 or claim 5,
The reconnaissance system of claim 1 , wherein the photographing unit includes at least one of an optical camera, a thermal imaging camera, and a synthesized aperture radar (SAR). The method of claim 8,
The reconnaissance device includes at least one of an artificial satellite and an aircraft. Preparing a location information device;
photographing the location information device installed on the ground, using a reconnaissance device, with a code unit having a pattern indicating information on the installation location;
deriving an absolute location (L _a ), which is an installation location of the location information device, by a reconnaissance device using an image of the location information device;
calculating an installation location (L _c ) of the location information device by using the location (L _se ) detected by the reconnaissance device when the location information device is photographed by the reconnaissance device; and
By comparing the calculated installation location (L _c ) of the location information device and the derived absolute location (L _a ) of the location information device, it is determined whether there is an error in the self location (L _se ) detected by the reconnaissance device. Including;
The process of preparing the location information device,
preparing a plurality of cell members;
preparing at least two cell members among the plurality of cell members to have different temperatures by adjusting temperature regulating members connected to the plurality of cell members;
arranging the plurality of cell members in at least one direction to prepare the temperature-controlled pattern;
A method of operating a reconnaissance system comprising: installing a location information device having a code unit including a plurality of cell members arranged in one direction at a predetermined location on the ground. delete The method of claim 10,
The process of deriving the absolute position (L _a ),
extracting, by a reconnaissance device, a pattern image (PI _i ) including the pattern from an image captured by the location information device;
Searching for a reference pattern image (PI _ss ) identical to the extracted pattern image (PI _i ) among a plurality of previously stored reference pattern images (PI _s ); and
A method of operating a reconnaissance system, comprising: deriving a location of a pre-stored location information device in association with a searched reference pattern image (PI _ss ) as an absolute location (L _a ). The method of claim 12,
In the determination process, if it is determined that there is an error in the detected self-position (L _se ), a process of correcting the self-position (L _se ) detected by the reconnaissance device when the location information device is photographed by the reconnaissance device is performed. include,
The process of correcting the magnetic position (L _se ),
deriving a pre-stored self-position of the reconnaissance device in association with the searched reference pattern image PI _ss as a reference position L _s ; and
A method of operating a reconnaissance system comprising: correcting the sensed self-position (L _se ) to the derived reference position (L _s ). The method according to any one of claims 10, 12 and 13,
The location information device is provided in plural and installed at different locations on the moving path of the reconnaissance device;
The process of photographing the location information device, the process of deriving the absolute location (L _a ) of the location information device, and calculating the installation location (L _c ) of the location information device using the sensed own location (L _se ) The process of performing the reconnaissance device and the process of determining whether or not there is an error in the self-position (L _se ) detected by the reconnaissance device are performed whenever the reconnaissance device passes each of the plurality of location information devices.

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