KR102503835B1 - System of controlling with trainning dron flight by chasing simulation and operating method thereof - Google Patents

Abstract

In the present invention, in order to increase the proficiency of drone control to operate (fly) the drone, the drone operator adjusts and operates the actual drone at the field or training ground, tracks and records all the control signals in which the drone is operated, and manages it so that it can be simulated, It is related to a drone operation control training tracking simulation system and its operation method that increase the proficiency of drone operation by allowing drone operators to directly check the accuracy of drone operation by automatically and repeatedly operating drones in the field for skill improvement and analysis. While flying along the designated path by the flight control signal, GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information are detected, respectively, and the attitude is controlled through selective arithmetic average operation. Smart that records and stores in the allocated area in connection with the corresponding posture information at the time of shooting, and transmits and receives the same contents converted into packet frames by simultaneously wirelessly connecting to the outside using two or more of the self-equipped communication means to eliminate communication errors. drone; Smart drone coordination that outputs flight control signals including the direction and attitude of flight through wireless connection with smart drones and transmits and receives signals with the same contents converted into packet frames through simultaneous wireless access to two or more of the self-equipped communication means method; It is connected to the smart drone via the smart communication network, receives the information converted into packet frames, stores and manages it in the assigned area, and provides it as packet frames by search. The corresponding control signal input for operation is tracked, recorded and managed in the assigned area, and automatically controlled to operate (flight) again under the same conditions at the site for simulation to increase the proficiency of the drone operator. It has the effect of increasing the proficiency of drone control by directly checking and evaluating the condition.

Description

System of controlling with training dron flight by chasing simulation and operating method thereof}

The present invention relates to a drone operation control training tracking simulation system and its operation method. All the control signals in which the drone is operated are tracked and recorded and managed so that the simulation is possible. In order to improve proficiency and analyze, the drone is automatically and repeatedly operated in the field again so that the drone operator directly checks the accuracy of drone operation, so the skill of drone operation It relates to a drone operation control training tracking simulation system and its operation method that increase the degree.

The entity or the manager responsible for the operation and maintenance of a specific object used by a large number of people needs to accurately grasp the current state of the object and monitor or check whether it needs to be repaired or has a safety problem, and for this reason It is necessary to carry out inspection activities to accurately grasp the current state of the facility periodically and from time to time as needed.

On the other hand, if these objects are large-scale buildings, long-span bridges, large areas, etc., a lot of time and labor is required for monitoring and confirmation, and special devices or equipment for access are used, which takes time and a lot of labor. there is a problem.

Drones can be used as a technology that partially solves these problems, but drones can be crashed and damaged depending on the skill level of the controller or coordinator (hereinafter referred to as 'drone coordinator') for operation (flight). There are problems such as causing safety accidents that cause damage to the state.

1 is a diagram showing the status of drone accidents, crashes, and losses aggregated in 2018 by the Ministry of Land, Infrastructure and Transport, and a state in which drones are damaged according to an embodiment.

Referring to the attached figure 1, a total of 454 drone accidents occurred in 2018 and were counted by the Ministry of Land, Infrastructure and Transport, and 25 aircraft defects and unknown causes accounted for about 6%, and the remaining 94% of accidents were all caused by drone operators. It is being counted and analyzed by negligence (mistake).

Although the drone itself crashes due to a drone adjustment error and the drone is damaged, it is a big loss in its own way. It is necessary to increase the proficiency of the coordinator, and especially if the surrounding buildings and properties are unique cultural heritage of the nation, there is no way to restore the damage caused, so it is necessary to develop technology to improve the proficiency of the drone coordinator. Relatively very urgent.

As a prior art that partially solves these problems, there is Korean Patent Registration No. 10-1765235 (2017. 07. 31.) "Facility maintenance management system using IoT-based sensor and unmanned aerial vehicle and its method".

2 is a configuration explanatory diagram of an object inspection system using a drone according to an embodiment of the prior art.

Hereinafter, the prior art will be described in detail with reference to the accompanying drawings, an Internet of Things (IoT)-based sensor unit 81, a measurement result analysis and action terminal 82, an unmanned aerial vehicle flight and control terminal 83, and an unmanned aerial vehicle 84 ) and an unmanned aerial vehicle station 85.

The Internet of Things (IoT)-based sensor unit 81 is composed of one or more measurement sensors, a power supply device, and an IoT network communication device, is assigned a unique identification number, generates a location signal, and is installed in the facility 70 as an observation object to determine the state is measured and transmitted through the IoT communication network.

The measurement result analysis and action terminal 82 analyzes the abnormal state of the facility 70 according to the received measurement value, notifies the analysis result to the active maintenance management system 86, and determines whether the facility 70 requires precise inspection. If it is judged to be in an abnormal state by self-determination, it notifies the manager to respond.

The unmanned aerial vehicle flight and control terminal 83 remotely controls the unmanned aerial vehicle 84 or drone stored in the unmanned aerial vehicle station 85 to automatically approach the location where the IoT-based sensor unit 81 is installed, and remotely controls the camera. Take a picture of the abnormal part.

This prior art has the advantage of remotely and automatically maintaining the facility by double inspection, but is suitable for maintenance of a small number of facilities, and for the maintenance and management of many and unspecified facilities, the system configuration becomes very large and complex, and operation and maintenance However, it is still not able to solve the costly and time-consuming problem, and skilled drone pilots can be trained to solve this problem.

Therefore, it is necessary to develop a technology that safely observes and maintains an unspecified number of buildings and facilities, as drone pilots practice to adjust drones in a skilled state to enable stable flight.

Republic of Korea Patent Registration No. 10-2192686 (2020. 12. 11.) ‘Drone control system for facility inspection and its method’ Republic of Korea Patent Registration No. 10-1765235 (2017. 07. 31.) "Facility maintenance management system using IoT-based sensor and unmanned aerial vehicle and its method"

The present invention, which was devised to solve the problems and necessity of the prior art as described above, tracks the control signal input by the drone operator for drone operation at a specific site, records and manages it in an allocated memory area, and increases the drone operator's proficiency. Tracking drone operation control training to increase proficiency in drone coordination by allowing the drone operator to directly check and review the flight status of the drone controlled by him or her by controlling the drone to automatically operate (fly) again under the same conditions at the site for simulation for Its purpose is to provide a simulation system and its operating method.

The drone operation control training tracking simulation system of the present invention, which was devised to achieve the above object, detects GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information respectively while flying along a path designated by the corresponding flight control signal, and selectively The posture is controlled by arithmetic mean operation, and the designated target is photographed in stereo with ultraviolet rays, infrared rays, and white rays, respectively, and recorded and stored in the allocated area in connection with the corresponding posture information at the time of shooting. A smart drone (1000) that transmits and receives the same contents converted into packet frames through simultaneous wireless access and eliminates communication errors; By wirelessly connecting to the smart drone 1000, a flight control signal including the direction and posture of flight is output, and by simultaneously wirelessly connecting to two or more of a plurality of self-equipped communication means, the signal of the same content converted into a packet frame is transmitted and received. a smart drone control means (2000); A smart drone server 4000 that connects to the smart drone 1000 via the smart communication network 3000, receives information converted into packet frames, stores and manages information in an assigned area, and provides packet frames by search; can include

The smart drone 1000 includes a GPS unit 1010 that wirelessly receives and analyzes GPS signals from a plurality of GPS satellites according to a corresponding control signal and outputs GPS coordinate information at a current location; Connects to the GPS unit 1010, outputs and monitors the corresponding control signal to fly along the flight path designated by the input GPS coordinate information and the corresponding flight control signal, and controls and monitors the operation of each functional unit provided, respectively, and allocates an area Smart drone control unit 1020 to record and store in; An LBS unit 1030 that receives and analyzes a location-based service signal from a nearby mobile communication base station according to a corresponding control signal of the smart drone control unit 1020 and outputs LBS coordinate information at the current location; an INS unit 1040 that outputs inertial navigation coordinate information detected by a corresponding control signal of the smart drone control unit 1020; Analysis arithmetic mean operation unit for inputting at least one selected from among the GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information according to the corresponding control signal of the smart drone control unit 1020, and calculating and outputting the arithmetic average of the input values. (1050); A stereo ultraviolet photographing unit 1060 having an ultraviolet camera that rotates at a designated angle by a corresponding control signal of the smart drone controller 1020 and captures a stereo image of a designated object in ultraviolet light; a stereo infrared photographing unit 1070 having an infrared camera that rotates at a designated angle in response to a corresponding control signal of the smart drone controller 1020 and captures a stereo image of a designated target in infrared light; A stereo white light photographing unit 1080 having a white light camera that rotates at a designated angle by a corresponding control signal of the smart drone control unit 1020 and captures a stereo image of a designated target in white light; GPS coordinate information, LBS coordinate information, inertial navigation coordinate information, UV stereo image, infrared stereo image, white ray stereo image, and rotation of each camera detected by the control signal of the smart drone control unit 1020 A packet frame encryption/decryption unit (1090) for encrypting or decrypting packet frames by converting them into packet frames of a designated size, including angle, corresponding time information, operation information, and operation information, and sequentially recording them in one or more packet frames; a drone database unit 1100 for recording and storing information converted into packet frames by a corresponding control signal of the smart drone control unit 1020 in an allocated area; A flight engine unit 1110 outputting flight power for the drone to operate according to a corresponding control signal of the smart drone control unit 1020; The smart drone control unit 1020 is a multi-communication unit that operates the Wi-Fi communication unit, the Bluetooth communication unit, the mobile communication unit, and the FM communication unit provided by the corresponding control signal in an active state at the same time and wirelessly connects to the designated counterpart to transmit and receive signals of the same content. (1120); can include

The drone operation control training tracking simulation system operating method of the present invention devised to achieve the above object is a smart drone 1000, a smart drone control means 2000, a smart communication network 3000, and a smart drone server 4000. In the drone operation control training tracking simulation system operation method including, when a control signal for starting operation is input by the smart drone 1000, the flight engine unit is activated and controlled, and GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information are activated. Preparation step of detecting each; By analyzing the mutual deviation values of each coordinate information value detected in the preparation step, it is determined whether all mutual deviation values are within the permitted range, and if it is determined that all mutual deviation values are within the permitted range, the GPS coordinate information and the LBS coordinate information and a first selection step of selecting all inertial navigation coordinate information; By analyzing the mutual deviation value of each coordinate information value detected in the preparation step, if it is determined that any one coordinate information value exceeds the allowed mutual deviation value, the other two coordinate information values within the allowed mutual deviation value range are calculated. a second selection step of selecting; A third selection step of selecting an inertial navigation coordinate information value when it is determined that each coordinate information value exceeds the allowed mutual deviation value by analyzing the mutual deviation value of each coordinate information value detected in the preparation step; The coordinate information input from any one of the first selection step, the second selection step, and the third selection step is input to the analysis arithmetic mean operation unit, the coordinate information is calculated and outputted, and the coordinate information is used as flight information to fly and fly over the target. A navigational photographing step of photographing a designated target as a stereo image of ultraviolet rays, infrared rays, and white rays; A drone that converts each image captured in the operation shooting step into a packet frame including operation information and operation information, records it in an allocated area, connects to the smart drone control unit and a designated status room, and multi-communicates for transmission and reception of packet frames. operating stage; can include

The present invention with the above configuration tracks the control signal input by the drone operator for drone operation at a specific site, records and manages it in an assigned area, and automatically re-creates the drone operator under the same conditions at the site for a simulation to increase the proficiency of the drone operator. Since it is automatically controlled to operate (flight), it has the advantage of increasing the proficiency of drone control by allowing the drone operator to directly check and evaluate the controlled state.

1 is a diagram showing the status of drone accidents, crashes, and loss collected by the Ministry of Land, Infrastructure and Transport in 2018 and the state of drones being damaged according to an embodiment;
Figure 2 is according to an embodiment of the prior art, and is an explanatory diagram of the configuration of an object inspection system using a drone;

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all conversions, equivalents, or substitutes included in the spirit and scope of the present invention. In describing the present invention, if it is determined that a detailed description of related known technologies may obscure the gist of the present invention, the detailed description will be omitted.

In the following description, flight and flight have the same meaning, and visible light and white light have the same meaning, and each will be selectively used according to the context.

3 is a functional configuration diagram of a drone operation control training tracking simulation system according to an embodiment of the present invention, and FIG. 4 is a detailed functional configuration diagram of a smart drone according to an embodiment of the present invention. According to an embodiment of the present invention, it is a detailed functional configuration diagram of a multi-communication unit, and FIG. 6 is a diagram showing the configuration of a packet frame according to an embodiment of the present invention.

Hereinafter, if described in detail with reference to all attached drawings, the drone operation control training tracking simulation system 900 includes a smart drone 1000, a smart drone control means 2000, a smart communication network 3000, and a smart drone server 4000. It is a composition that includes

The smart drone 1000, while flying along a designated path by the corresponding flight control signal, detects GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information, respectively, and performs selective arithmetic average operation to control the attitude, and moves the designated target with ultraviolet rays and infrared rays. Each stereo image is taken with a white light beam, and recorded and stored in an allocated area in association with the corresponding posture information at the time of shooting. to eliminate communication errors. The corresponding flight control signal is automatically input by the program and the flight control signal received wirelessly from the smart drone control unit 2000, but from the drone control unit 1020 or the smart drone control unit 2000 or the smart drone server 4000, respectively. It can be input and may or may not pass through the smart communication network 3000 according to the surrounding communication environment.

The smart drone 1000 includes a GPS unit 1010, a smart drone control unit 1020, an LBS unit 1030, an INS unit 1040, an analysis arithmetic average operation unit 1050, a stereo ultraviolet imaging unit 1060, and a stereo It may include an infrared imaging unit 1070, a stereo white light imaging unit 1080, a packet frame encryption/decryption unit 1090, a drone database unit 1100, a flight engine unit 1110, and a multi-communication unit 1120.

The GPS unit 1010 wirelessly receives and analyzes GPS signals from a plurality of GPS satellites according to the corresponding control signal applied from the smart drone control unit 1020, and outputs GPS coordinate information at the current location.

In the GPS coordinate information, GPS signals are received from multiple GPS satellites in low Earth orbit, but signals are received from at least three satellites, and GPS (global position system) that can check the coordinate information on the current position in the receiving unit using the principle of triangulation. ) positioning system technology.

Radio waves emitted from a GPS satellite include the position and time information of the GPS satellite at the moment the radio wave is launched, and the distance from the time difference between the moment the radio wave is launched and the moment the radio wave is received by the GPS receiver to the satellite find out In the past, people observed celestial bodies such as the Polaris, the sun, and the moon, compared them with a table calculated in advance according to the observation values and the observation time, and corrected the direction they wanted to go after figuring out their location.

At least three GPS satellites orbiting the earth are always visible in any place, such as deep mountains, the middle of the sea, or desolate deserts, and if there is a radio receiver, accurate location information regardless of the weather can be delivered. The satellite is equipped with a very precise atomic clock, which precisely measures the time it takes for radio waves to travel from the satellite to the receiver. Using the differential GPS technology method, the error can be very small.

GPS coordinate information includes longitude values, latitude values, sea level values, angular velocity values, heading values, and time values.

The smart drone control unit 1020 connects to all functional units provided in the smart drone 1000, including the GPS unit 1010, and controls the flight to a designated flight path by the input GPS coordinate information and the corresponding flight control signal. It outputs and monitors signals, controls and monitors the operation of each provided functional unit, and controls and monitors update management so that it is recorded and stored in the assigned area of the drone database unit 1100 when necessary processing is completed.

The LBS unit 1030 receives and analyzes a coordinate information signal by location based service (LBS) from a nearby CDMA method mobile communication base station according to a corresponding control signal of the smart drone control unit 1020 and analyzes the current location. Outputs the LBS coordinate information of

Location-based service (LBS) refers to a system service that provides various services to users by utilizing relatively very accurate location information of a base station obtained through a mobile communication network or a global positioning system (GPS).

LBS technology may include positioning technology to determine the location of a mobile terminal, LBS platform technology to provide core base technology for services, LBS service joint technology to provide various LBS services, and LBS terminal and application services. Positioning technology is a technology for measuring the position of a mobile terminal for mobile communication. It is a network-signal based positioning method using a base station reception signal of a mobile communication network, a satellite signal-based positioning method using satellite signals such as GPS, and ubiquitous computing. It can be classified into a ubiquitous positioning method using a device and a mixed positioning method in which these methods are mixed. Information that can be obtained through LBS includes location check, logistics, control, surrounding information (weather, life information, etc.), entertainment, transportation, navigation, safety and rescue, and advertising services. There is a comprehensive marine safety information system, a 119 mobile phone location information system, and a real-time infectious waste management system. Currently, LBS is widely used in transportation and navigation fields such as navigation and is expected to be widely used in corporate services such as real-time tracking in the future.

LBS coordinate information is known to be more accurate than GPS coordinate information, and since it is general, further detailed description will be omitted.

The INS unit 1040 outputs inertial navigation (INS) coordinate information detected by the corresponding control signal of the smart drone control unit 1020.

The Inertial Navigation System (INS) is a device mounted on a submarine, aircraft, missile, etc. to detect its position and guide it to its destination. method of salvation. If you enter the location you were at first, you can always calculate and figure out your location and speed even if you move. Although it has the advantage of being unaffected by bad weather or radio interference, the error accumulates and increases when moving a long distance, so it is common to use it with correction by GPS or active radar guidance.

Inertial navigation (INS) coordinate information can be used even in areas such as tunnels where radio waves do not reach, and GPS coordinate information and LBS coordinate information can be detected and used only in areas where radio waves reach.

The analysis arithmetic mean operation unit 1050 inputs one or more selected among GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information according to the corresponding control signal of the smart drone control unit 1020, and calculates the arithmetic average of the input values. Output as flight information.

The stereo ultraviolet photographing unit 1060 rotates the ultraviolet camera provided by the control signal of the smart drone controller 1020 at a designated angle and sets it to face a designated direction. Direction control is explained and understood as selecting and setting desired directions in the range of 180 degrees by corresponding control, and since the configuration is general, detailed descriptions are omitted and the same will be applied below.

The stereo ultraviolet imaging unit 1060 is a component that captures a stereo image of a designated target with ultraviolet (UV) light. Hereinafter, a stereo image is an image that feels a three-dimensional effect when observed with the human eye, and is explained and understood as an image that can feel depth. Since it is general, further detailed description is omitted.

The stereo infrared photographing unit 1070 rotates at a designated angle by a corresponding control signal of the smart drone controller 1020 and includes an infrared camera that captures a stereo image of a designated target by infrared (IR).

The stereo white light photographing unit 1080 rotates at a designated angle in response to a corresponding control signal of the smart drone controller 1020 and includes a white light camera that captures a stereo image of a designated target in white light or visible light.

packet frame encryption/decryption unit 1090; GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information detected at the current location by the corresponding control signal of the smart drone control unit 1020, UV stereo image, infrared stereo image, white ray stereo image, and each camera It is a configuration for encrypting or decrypting by converting into a packet frame of a specified size, including the rotation angle of each photographed time information, each coordinate information, flight information and operation information, and sequentially recording them in one or more packet frames (5000). .

The configuration of functions such as the packet frame encryption/decryption unit 1090 will be described and understood as being provided in the smart drone control unit 2000 and the smart drone server 4000, respectively.

The packet frame 5000 will be described in detail below.

The drone database unit 1100 records and stores the information converted into packet frames 5000 in the allocated area by the corresponding control signal of the smart drone control unit 1020, and outputs the result by search.

The flight engine unit 1110 is a component that outputs the flight power for the drone to operate by the corresponding control signal of the smart drone control unit 1020, and is generally composed of a plurality of propellers and motors, but each for rapid movement in front, rear, left and right directions. It can be made up of 4 pieces.

The multi-communication unit 1120 includes a Wi-Fi communication unit 1121, a Bluetooth communication unit 1122, a mobile communication unit 1123, and an FM communication unit 1124 provided by the corresponding control signal of the smart drone control unit 1020 at the same time and activated at the same time. status, and wirelessly connects to the designated counterpart to simultaneously transmit and receive signals with the same contents.

The Wi-Fi communication unit 1121 is a wireless communication unit configured to perform bidirectional communication by transmitting and receiving in a WiFi method, and since it is generally well known, further detailed description will be omitted.

The Bluetooth communication unit 1122 is a wireless communication unit that transmits and receives data in a Bluetooth (Bluetooth) method for bidirectional communication, and since it is generally well known, a detailed description thereof will be omitted.

The mobile communication unit 1123 is a wireless communication unit that transmits and receives data in a CDMA or W-CDMA manner for bidirectional communication, and is generally well known under the name of mobile communication, so further detailed description thereof will be omitted.

The FM communication unit 1124 is a wireless communication unit configured to perform bidirectional communication by transmitting and receiving FM (frequency modulation) method, and since it is generally well known, further detailed description will be omitted.

The smart drone control means 2000 simultaneously wirelessly connects to the smart drone 1000 and multiple channels through each corresponding multi-communication unit, outputs a flight control signal including the direction and attitude of flight, and has a plurality of self-equipped communication means, that is, Two or more of the multi-communication means are wirelessly connected at the same time via the communication unit and simultaneously transmitted/received using a signal with the same content converted into a packet frame (5000). The smart drone control means 2000 may be made of a dedicated control means or a data terminal, or may be used instead by installing a program necessary for a portable terminal for mobile communication.

The smart communication network 3000 connects the smart drone 1000, the smart drone control means 2000, and the smart drone server 4000 individually or individually to provide a communication path through which packet frames are transmitted through switching, and the other party designated as needed. Alternatively, it will be described as being provided with a switching function for connecting to an administrator located in a remote location.

The smart drone server 4000 accesses the smart drone 1000 or the smart drone control means 2000 via the smart communication network 3000, receives the information converted into packet frames, stores it in an assigned area, manages it, and searches it. It is provided as a packet frame (5000).

Since the drone control unit 1020 records and stores information including flight control information, operation information, and operation information in the drone database unit 1100, a simulation of automatically repeating the flight course operated later can be performed as needed. Through this simulation, the drone operator can become a skilled drone operator by learning whether the drone he or she has adjusted has flown normally or safely or which part needs to be more careful.

On the other hand, information including flight control information, operation information, and operation information is recorded in the smart drone server 4000 and may be recorded in the allocated memory area of the smart drone control unit 2000 as needed.

Therefore, the smart drone server 4000 and the smart drone control means 2000 that have input the corresponding command signal or control signal can output the corresponding signal to simulate automatically repeating the flight course operated in the past, and these signals can be It may be transmitted to the smart drone 1000 via the communication network 3000 or directly transmitted.

The packet frame 5000 consists of a total of 185 bytes and includes an overhead (OVHD) field, a first data field, a second data field, a third data field, a check data (CHK) field, and an end (END) field. It is a composition that includes

When the capacity of specific data to be recorded is relatively large and cannot be recorded in the corresponding field area allocated to one packet frame 5000, the drone control unit 1020 adds the packet frame 5000 in the following order and allocates the corresponding data is recorded, and each corresponding frame serial number is assigned to indicate that data is concatenated and recorded to be recorded in the overhead field area and the end field area, respectively, so that the receiving side can perform necessary data restoration processing.

A byte means a collection of eight bits, the minimum unit for recording the presence or absence of one pulse signal in a digital signal. If necessary, more than eight bits are defined as one byte. However, in the following description, 10 bits are defined as constituting one byte for encryption to prevent unauthorized access and theft of valuable information by an unauthorized third party.

The overhead (OVHD) field consists of 10 bytes and includes the start position at which data constituting the frame starts to be recorded, transmission destination, transmission time, location information where the packet frame was created, and bits. If the size of the entire data and the amount of data are large, it can be composed of multiple frames, so the frame serial number information indicating the connected state is included and recorded.

The first data field consists of 50 bytes with an interval of 1 byte from the overhead field, and includes navigation information and operation information including detected GPS coordinate information, LBS coordinate information, inertial navigation coordinate information, and arithmetic averaged coordinate information. , Flight control signals, image signals of the target image stereoscopically photographed with infrared rays, ultraviolet rays, and visible rays (white light), and attitude control signals of the camera, etc. signal is recorded.

The second data field is composed of 50 bytes with an interval of 1 byte from the first data field, and a signal of the same information as that recorded in the first data field is recorded.

The third data field is composed of 50 bytes with an interval of 1 byte from the second data field, and a signal of the same information as that recorded in the first data field is recorded.

The same information is recorded in the first data field, the second data field, and the third data field to overcome a transmission error that may occur during transmission.

The check (CHK) data field consists of 10 bytes at a 1-byte interval from the third data field, and analyzes the data recorded in the first data field, the second data field, and the third data field, respectively, so that an error is detected. If it is determined that it is included, the Cyclic Redundancy Check (CRC) method and the Hamming code method are sequentially operated to detect errors and perform redundant recovery processing.

The END field is composed of 10 bytes with an interval of 1 byte from the check data field, whether error detection and recovery, whether retransmission is requested, information on the device or location that generated the recorded data, and the location where the data of the patch frame ends. , the serial number information of the packet frame is included and recorded.

1 byte spaced between each data field is not shown in the drawing because it makes the drawing complicated.

7 is a flowchart of a drone operation control training tracking simulation system operating method according to an embodiment of the present invention.

Hereinafter, referring to all attached drawings, a drone operation control training tracking simulation system (900) including a smart drone (1000), a smart drone control unit (2000), a smart communication network (3000), and a smart drone server (4000) ) The operation method determines whether a flight control signal for starting operation is input by the smart drone 1000 (S100), and if it is determined that it is input, the flight engine unit 1110 is activated and controlled, and the GPS coordinate information and the LBS coordinates Information and inertial navigation coordinate information are respectively detected (S110). Here, the flight control signal to start flight is received from the smart drone control means (2000), but if necessary, the flight control signal is output by itself or via the smart communication network (3000) It may be received from the smart drone server 4000.

The mutual deviation values of each coordinate information value detected in the preparation step are analyzed to determine whether all are within the permitted range (S120), and when it is determined that each mutual deviation value is within the permitted range, the GPS coordinate information and LB Both S coordinate information and inertial navigation coordinate information are selected (S130). The allowable deviation is based on the calculated straight-line distance value and is set to a value within 1 meter (m). It can be increased or subtracted as needed, but it is desirable not to exceed 2 meters for safe flight, and the same applies below. .

If the mutual deviation value of each coordinate information value detected in the preparation step is analyzed and it is determined that any one coordinate information value exceeds the allowed mutual deviation value (S140), the remaining two coordinates in the allowed mutual deviation value range An information value is selected (S150).

If the mutual deviation value of each coordinate information value detected in the preparation step is analyzed and it is determined that each coordinate information value exceeds the allowed mutual deviation value (S160), an inertial navigation (INS) coordinate information value is selected (S170) .

Here, if each coordinate information value exceeds the allowed mutual deviation value, GPS coordinate information and LBS coordinate information are not detected because the drone is located in a shaded area or tunnel area where radio waves do not reach well. This is because it is most desirable to select coordinate information based on navigation (INS).

The coordinate information input from any one of the first selection step (S130), the second selection step (S150), and the third selection step (S170) is input to the analysis arithmetic average operation unit 1080, and the coordinate information is arithmetic averaged and output. It flies by using it as navigation information (S180), controls the attitude so that each corresponding camera faces the designated target in the sky above the target, and then takes stereo images of ultraviolet rays, infrared rays, and white rays (visible rays), respectively (S190). ).

Each image captured in the flight photographing step (S190), including flight information and operation information, is converted into a packet frame (5000) and recorded in the allocated area, and the smart drone control means (2000) and the designated status room or smart drone server ( 4000) to perform multi-communication using multiple communication channels (S210).

On the other hand, the smart drone that inputs the command signal flies for simulation of the previously flown flight course by itself or the previous flight by the corresponding command signal of the smart drone control means (2000) or smart drone server (4000). A simulation flight process for simulating a flight course is further included.

It is determined whether to continue this process (S220), and if it continues, it returns to the preparation step, and if it does not continue, it proceeds to the end.

Although the present invention has been described in detail with respect to the specific examples described above, it is obvious to those skilled in the art that various changes and modifications are possible within the scope of the technical idea of the present invention, and it is natural that these changes and modifications fall within the scope of the appended claims.

900: Drone operation control training tracking simulation system
1000: smart drone 1010: GPS unit
1020: smart drone control unit 1030: LBS unit
1040: INS part 1050: Analysis arithmetic average operation part
1060: stereo ultraviolet imaging unit 1070: stereo infrared imaging unit
1080: stereo white light imaging unit 1090: packet frame encryption/decryption unit
1100: drone database unit 1110: flight engine unit
1120: multi-communication unit 2000: smart drone control means
3000: smart communication network 4000: smart drone server

Claims (3)

delete While flying along the designated path by the corresponding flight control signal, GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information are detected, respectively, and the attitude is controlled through selective arithmetic average operation, and the designated target is photographed in stereo with ultraviolet rays, infrared rays, and white rays, respectively. It records and stores in the allocated area in association with the corresponding posture information at the time of shooting, and transmits and receives the same contents converted into packet frames by simultaneously wirelessly connecting to the outside with two or more of the self-equipped communication means to eliminate communication errors. smart drone (1000);
By wirelessly connecting to the smart drone 1000, a flight control signal including the direction and posture of flight is output, and by simultaneously wirelessly connecting to two or more of a plurality of self-equipped communication means, the signal of the same content converted into a packet frame is transmitted and received. a smart drone control means (2000);
A smart drone server 4000 that connects to the smart drone 1000 via the smart communication network 3000, receives information converted into packet frames, stores and manages information in an assigned area, and provides packet frames by search; In the drone operation control training tracking simulation system comprising a,
The smart drone 1000
a GPS unit 1010 that wirelessly receives and analyzes GPS signals from a plurality of GPS satellites in response to corresponding control signals and outputs GPS coordinate information at a current location;
Connects to the GPS unit 1010, outputs and monitors the corresponding control signal to fly along the flight path designated by the input GPS coordinate information and the corresponding flight control signal, and controls and monitors the operation of each functional unit provided, respectively, and allocates an area Smart drone control unit 1020 to record and store in;
An LBS unit 1030 that receives and analyzes a location-based service signal from a nearby mobile communication base station according to a corresponding control signal of the smart drone control unit 1020 and outputs LBS coordinate information at the current location;
an INS unit 1040 that outputs inertial navigation coordinate information detected by a corresponding control signal of the smart drone control unit 1020;
Analysis arithmetic mean operation unit for inputting at least one selected from among the GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information according to the corresponding control signal of the smart drone control unit 1020, and calculating and outputting the arithmetic average of the input values. (1050);
A stereo ultraviolet photographing unit 1060 having an ultraviolet camera that rotates at a designated angle by a corresponding control signal of the smart drone controller 1020 and captures a stereo image of a designated object in ultraviolet light;
a stereo infrared photographing unit 1070 having an infrared camera that rotates at a designated angle in response to a corresponding control signal of the smart drone controller 1020 and captures a stereo image of a designated target in infrared light;
A stereo white light photographing unit 1080 having a white light camera that rotates at a designated angle by a corresponding control signal of the smart drone control unit 1020 and captures a stereo image of a designated target in white light;
GPS coordinate information, LBS coordinate information, inertial navigation coordinate information, UV stereo image, infrared stereo image, white ray stereo image, and rotation of each camera detected by the control signal of the smart drone control unit 1020 A packet frame encryption/decryption unit (1090) for encrypting or decrypting packet frames by converting them into packet frames of a designated size, including angle, corresponding time information, operation information, and operation information, and sequentially recording them in one or more packet frames;
a drone database unit 1100 for recording and storing information converted into packet frames by a corresponding control signal of the smart drone control unit 1020 in an allocated area;
A flight engine unit 1110 outputting flight power for the drone to operate according to a corresponding control signal of the smart drone control unit 1020;
The smart drone control unit 1020 is a multi-communication unit that operates the Wi-Fi communication unit, the Bluetooth communication unit, the mobile communication unit, and the FM communication unit provided by the corresponding control signal in an active state at the same time, and wirelessly connects to the designated counterpart to transmit and receive signals of the same content. (1120); A drone flight control training tracking simulation system that includes a.
In the method of operating a drone operation control training tracking simulation system including a smart drone (1000), a smart drone control means (2000), a smart communication network (3000), and a smart drone server (4000),
A preparation step of activating and controlling the flight engine unit when a control signal for starting navigation is input by the smart drone 1000 and detecting GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information, respectively;
By analyzing the mutual deviation values of each coordinate information value detected in the preparation step, it is determined whether all mutual deviation values are within the permitted range, and if it is determined that all mutual deviation values are within the permitted range, the GPS coordinate information and the LBS coordinate information and a first selection step of selecting all inertial navigation coordinate information;
By analyzing the mutual deviation value of each coordinate information value detected in the preparation step, if it is determined that any one coordinate information value exceeds the allowed mutual deviation value, the other two coordinate information values within the allowed mutual deviation value range are calculated. a second selection step of selecting;
A third selection step of selecting an inertial navigation coordinate information value when it is determined that each coordinate information value exceeds the allowed mutual deviation value by analyzing the mutual deviation value of each coordinate information value detected in the preparation step;
The coordinate information input from any one of the first selection step, the second selection step, and the third selection step is input to the analysis arithmetic mean operation unit, the coordinate information is calculated and outputted, and the coordinate information is used as flight information to fly and fly over the target. A navigational photographing step of photographing a designated target as a stereo image of ultraviolet rays, infrared rays, and white rays;
A drone that converts each image captured in the operation shooting step into a packet frame including operation information and operation information, records it in an allocated area, connects to the smart drone control unit and a designated status room, and multi-communicates for transmission and reception of packet frames. operating stage; Drone operation control training tracking simulation system operating method including a.

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