KR100954500B1 - Control system for unmanned aerial vehicle - Google Patents

Abstract

PURPOSE: A control system for an unmanned aircraft is provided to minimize the number of people required for operation and to efficiently operate and control an unmanned aircraft even in a space where a line of sight is not secured. CONSTITUTION: A control system for an unmanned aircraft comprises wireless communication equipment(400) and task control equipment(300). The wireless communication equipment carries out wireless communication with an unmanned aircraft in a space where a line of sight is secured. The task control equipment comprises a CDMA modem(350) which carries out wireless communication with the unmanned aircraft through CDMA communication network in a space where a line of sight is not secured, an aviation control computer(310) embedded with task control software, a control device(340) which controls the operation of the unmanned aircraft and task equipment, a real-time processing computer(330) which encodes signals transmitted from the aviation control computer and the control device and transmits the encoded signals to the wireless communication equipment and the CDMA modem, and decodes signals transmitted from the wireless communication equipment or CDMA modem and transmits the decoded signals to the aviation control computer, and a monitor(320).

Description

Unmanned Aerial Vehicle

The present invention relates to an unmanned aerial vehicle control system, and more specifically, the ground control equipment for an unmanned aerial vehicle consisting of an exhibition device, a steering device, a control computer, and a visible wireless communication device is composed of one integrated mission control device for mission planning / flight. The present invention relates to an unmanned aerial vehicle control system capable of simultaneously performing control / image control functions and controlling / controlling an unmanned aerial vehicle and mission equipment using a commercial CDMA mobile communication network.

In general, an unmanned aerial vehicle refers to an aircraft which operates by controlling from the ground instead of directly boarding the pilot.

Such unmanned aerial vehicles are more efficient, more stable, and more cost effective than manned aircraft in conducting dangerous operations with high potential for loss of life, such as reconnaissance activities against enemy lines in combat situations and missile attacks on targets. Can be.

In recent years, as the utilization of the unmanned aerial vehicle increases, mission equipment mounted on the unmanned aerial vehicle is diversified, and researches on systems for manipulating the unmanned aerial vehicle and controlling operations for the mission equipment have been actively conducted. Getting.

Control of the unmanned aerial vehicle according to the prior art is mainly made by the ground control equipment for controlling the unmanned aerial vehicle.

According to the functions of the conventional unmanned aerial vehicle, mission planning that inputs information from the flight area before flight and analyzes the line of sight using digital terrain elevation data (DTED, Digital Terrain Elevation Date, etc.). ), Control the attitude of the unmanned aerial vehicle by auto tacking the unmanned aerial vehicle in the area where the unmanned aerial vehicle and the line of sight are secured, and receive the mission information of the unmanned aerial vehicle from the wireless communication equipment and overlay it on the map. In addition, it can be divided into a pilot control function for monitoring a mission situation and an imagery control function for controlling mission equipment mounted on the unmanned aerial vehicle and receiving a reconnaissance image in real time.

As the obstacle control equipment according to the prior art requires three control equipment capable of performing the above three functions, namely, mission planning, flight control, and video control, respectively, the control equipment becomes large, its rapid deployment and various vehicles. There is a problem that is difficult to mount on the ship or the like.

In addition, there are at least three pilots (users or operators) that control each of the three devices, which causes inefficiency.

In addition, there is a problem that it is difficult to control the unmanned aerial vehicle in a space where a line of sight for the unmanned aerial vehicle is not secured.

In addition, the ground control equipment according to the prior art does not have a real time operating system (RTOS), so it is controlled by near real time (Near RealTime) and stores 30 Frame 640 × 480 size images as VTR analog. Therefore, there is a problem in that it is inconvenient to play or edit the saved surveillance video.

In addition, in the unmanned aerial vehicle control system according to the prior art, there is a problem that a gimbal lock phenomenon may occur by using the Euler formula in calculating the target coordinates.

The present invention has been proposed to solve the problems of the prior art, the flight control computer is equipped with a mission control software integrated with mission planning / flight control / image control function to control the unmanned aerial vehicle and its mission equipment one integrated mission control Its purpose is to provide an unmanned aerial vehicle control system that can be controlled / controlled by equipment.

In addition, another object of the present invention is to minimize the operating personnel of the unmanned aerial vehicle control equipment, it is possible to quickly deploy, unmanned aerial vehicle control system that can be easily mounted on a vehicle / ship, etc. to control / control the unmanned aerial vehicle and its mission equipment The purpose is to provide.

In addition, another object of the present invention is to provide an unmanned aerial vehicle control system that is equipped with a CDMA modem in the mission control equipment to control the unmanned aerial vehicle and its mission equipment even in a space where no line of sight is secured for the unmanned aerial vehicle. There is.

In addition, another object of the present invention is to control and control the unmanned aerial vehicle and its mission equipment in real time by using a real-time processing computer equipped with a real-time operating system, real-time digital surveillance surveillance image by unmanned aerial vehicle / mission equipment It is to provide an unmanned aerial vehicle control system that can save images.

In addition, another object of the present invention to provide an unmanned aerial vehicle control system that can ensure the flight safety by applying a duplication technique of the mission control equipment using a network sniffing technique.

Another object of the present invention is to provide an unmanned aerial vehicle control system that can prevent the occurrence of the gimbal lock problem of the Euler formula using quaternion.

As a means for solving the above problems, the control system for an unmanned aerial vehicle according to the present invention, as described in claim 1, the control system for an unmanned aerial vehicle, comprising: an unmanned aerial vehicle equipped with a radio transceiver and a CDMA modem; And an integrated ground control device that performs wireless communication using a wireless communication device in a space where the unmanned aerial vehicle and the visible line are secured, and performs wireless communication using a CDMA communication network in a space where the unmanned aerial vehicle and the visible line are not secured. Include.

The unmanned aerial vehicle and the integrated ground control equipment may include: a CDMA modem; A flight control computer equipped with mission control software integrating the mission planning, flight control, and image control functions of the unmanned aerial vehicle; A control device for controlling the operation of the unmanned aerial vehicle and its mission equipment; Real-time processing computer that receives the signals from the flight control computer and the control device, encodes them, transmits them to the wireless communication device and the CDMA modem, decodes the signals received through the wireless communication device or the CDMA modem, and transmits them to the flight control computer. ; And a monitor for displaying a signal received from the unmanned aerial vehicle through the flight control computer.

The real-time processing computer, as described in claim 3, is equipped with a Real Time Operating System (RTOS, VXWorks) kernel to control the unmanned aerial vehicle and its mission equipment in real time.

The task control software, as described in claim 4, is characterized by preventing the gimbal lock phenomenon by using quaternion when calculating target coordinates from the signal transmitted from the real-time processing computer.

The task control software, as described in claim 5, characterized in that the video signal of the signal transmitted from the real-time processing computer is converted into a digital video and stored in the flight control computer in real time.

The control device, as described in claim 6, comprising: a knob for controlling automatic navigation flight including altitude, speed, heading / roll, and azimuth control of the antenna of the unmanned aerial vehicle; Zoom in / out to focus auto / manual of the unmanned aerial vehicle, altitude, speed, roll control or azimuth, elevation, optical / infrared (EO / IR) camera of the mission equipment, according to the pilot's selection of the drone / mission equipment. A joystick for controlling a manual navigation flight including control; A flight controller for controlling the flight of the unmanned aerial vehicle during automatic or manual navigation flight of the unmanned aerial vehicle; And a touch panel for controlling a control method of the unmanned aerial vehicle and a manual / automatic flight mode.

As described in claim 7, the monitor displays the electronic map and flight information (including position, altitude, heading information) of the unmanned aerial vehicle on the electronic map, and secures the mission plan and the line of sight. An upper monitor configured to display a result of analyzing whether space is present and to display the moving image by selection of the pilot; And a lower monitor displaying the flight information, mission information of the mission equipment, and the target coordinates.

The lower monitor further includes a function of controlling the flight of the unmanned aerial vehicle and the operation of the mission equipment by a touch screen method as described in claim 8.

The mission control device includes a network hub connecting the flight control computer and the real-time processing computer as described in claim 9; And a sub real time processing computer connected to the network hub to monitor the real time processing computer in real time and performing a function of the real time processing computer by a network sniffing technique when the real time processing computer does not operate. It is done.

Unmanned aerial vehicle control system according to the present invention having the above configuration is equipped with a mission control software integrated with mission planning / flight control / image control function in the flight control computer to integrate into one equipment, miniaturization and lightening of equipment and operation personnel It is effective to minimize (pilot, user).

In addition, there is an effect that can control / control the unmanned aerial vehicle and its mission equipment in a space where the line of sight for the unmanned aerial vehicle is not secured.

In addition, it is possible to control / control the unmanned aerial vehicle and its mission equipment in real time, and have the effect of storing surveillance surveillance video as real-time digital video.

In addition, the redundancy technique is applied to improve flight stability.

The terms or words used in this specification and claims are not to be construed as limiting in their usual or dictionary meanings, and the inventors may appropriately define the concept of terms in order to best explain their invention in the best way possible. It should be interpreted as meaning and concept corresponding to the technical idea of the present invention based on the principle that the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and the same reference numerals will be used for components having the same functions and functions when describing the embodiments of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

1 illustrates a network relationship between an integrated ground control equipment 200 and an unmanned aerial vehicle by an unmanned aerial vehicle control system according to the present invention, and FIG. 2 is a diagram illustrating an internal configuration of the integrated ground control equipment 200.

The integrated ground control device 200 includes a mission control device 300 and a visible wireless communication device 400, and the CDMA modem 350 is mounted on the mission control device 300.

The unmanned aerial vehicle 100 may include various mission equipment (including reconnaissance equipment such as optical (EO) cameras and infrared (IR) cameras) and various weapons. The same may be applied to the unmanned aerial vehicle 100 and the CDMA modem 350 and visible wireless communication equipment. 400 and a mounted CDMA modem capable of wireless communication and mounted wireless wireless communication equipment is mounted.

The visible wireless communication equipment 400 is used in the same sense as the wireless communication equipment 400, and the mounted visible wireless communication equipment is used in the same sense as the mounted wireless communication equipment or the wireless transceiver. Same as below.

As shown in FIG. 3, the integrated ground control equipment 200 may be equipped with the mission control equipment 300 inside the vehicle 10, and the unmanned aerial vehicle 100 may also be mounted and movable. Can be.

As shown in FIG. 3, the visible wireless communication device 400 may be installed on the roof of the vehicle 10 to facilitate wireless communication with the unmanned aerial vehicle.

The integrated ground control equipment 200, in the case of a space where the unmanned aerial vehicle 100 and the line of sight (meaning there is no obstacle between the unmanned aerial vehicle and the integrated ground control equipment. Wireless communication with the unmanned aerial vehicle 100 using communication equipment (400, UHF, C-BAND, S-BAND), the space is not secured (visible communication link) or the visible radio communication equipment ( If 400 is a failure, the CDMA modem is used for wireless communication with the unmanned aerial vehicle 100 through the CDMA modem.

4 is a real picture of the visible wireless communication equipment 400, Figure 5 is a real picture of the CDMA modem 350.

In this case, the visible wireless communication equipment 400 includes an RF module, an antenna controller and an antenna.

The antenna may include a yagi antenna, an omni antenna, and a dish antenna (see FIG. 4).

That is, in the space where the line of sight secured between the unmanned aerial vehicle 100 and the integrated ground control equipment 200 is secured, UHF, C-BAND, and S-BAND antennas perform wireless communication with the unmanned aerial vehicle, and the CDMA in the line of sight not secured. The modem 350 may be connected to a commercial CDMA mobile communication network to control an unmanned aerial vehicle even in an unobtained line of sight.

The integrated ground control equipment transmits data to the CDMA modem 350 (for ground control equipment) by packetizing the unmanned aerial vehicle control command and the mission equipment control command.

The CDMA modem 350 transmits an unmanned aerial vehicle control command and a mission equipment control command to a CDMA modem for an unmanned aerial vehicle by accessing a commercial mobile communication network. An unmanned aerial vehicle (Airborne Data Terminal Controller) transmits data to the unmanned aerial vehicle CDMA modem by RS-232 communication by packetizing flight status information and mission equipment status information of the unmanned aerial vehicle. The CDMA modem for the unmanned aerial vehicle transmits this information back to the integrated ground control equipment 200, and the integrated ground control equipment 200 decodes the received information to display flight information, mission information, mission status, image information on the screen. And the like on the screen.

6 is an external picture of the integrated ground control equipment 200 configured as a vehicle.

7 is a real picture of controlling the unmanned aerial vehicle 100 by the integrated ground control equipment 200.

As shown in FIG. 8, the mission control device 300 may include a monitor 320, a flight control computer 310, a real-time processing computer 330, a control device 340, and a CDMA modem 350. have.

The flight control computer 310 is equipped with a mission control software that integrates a mission planning, flight control, image control function, the mission control software is unmanned by the real-time processing computer 330 and Ethernet (TCP / IP) communication It transmits a signal to an aircraft, receives and decodes various information of the unmanned aerial vehicle and mission equipment, and displays the information on a screen such as a monitor.

The mission planning, flight control and video steering functions are as described in the background art.

The task control software was developed using C ++, an object-oriented language, and the task planning, flight control, and video control functions are objects and classes selected by the user (ie, the task plan, flight control, Image control) is shown on the monitor 320 (screen).

If a user (pilot) wants to control the unmanned aerial vehicle 100, the unmanned aerial vehicle with the control device (touch panel, remote controller, knob, joystick, etc.) while pressing the flight control button in the mission control software and monitoring the flight instrument The control button may be controlled, and the image control screen, which is hidden as an object by pressing the image control button, may be output to the monitor 320 to monitor the surveillance reconnaissance image while controlling the mission equipment of the unmanned aerial vehicle using the joystick. .

In addition, the task control software, by using a general-purpose Direct Show SDK of MS for image processing, stores the image received from the visible wireless communication device 400 as a real-time digital video file of more than 30 frames, the user (pilot) ) Can easily import and edit the digital video stored on the hard disk.

According to the prior art, Euler's formula is mainly used in the coordinate calculation of target information acquired by the unmanned aerial vehicle.

The target coordinate calculation by the Euler formula is not a problem when calculated using the heading, altitude, pitch information of the aircraft (unmanned aerial vehicle, etc.) and azimuth, elevation angle of the mission equipment in two dimensions.

However, in the three-dimensional terrain, when calculating the vehicle and the target information, a gimbal lock problem occurs in which one axis overlaps with the three-dimensional axis. To solve such a problem, the unmanned aerial vehicle control system according to the present invention The azimuth and elevation of the mission equipment, the altitude, heading, and roll data of the unmanned aerial vehicle are calculated by the mission control software installed in the flight control computer 310, and the target coordinates are calculated using quaternions. You can do that.

9A to 9D are diagrams for explaining the reason why the gimbal lock phenomenon occurs.

At this time, the posture change is pitch → heading → roll, and the rotation change is z axis → x axis → y axis.

FIG. 9B is a pitch 90 °, i.e., z-axis rotation, and FIG. 9C is a heading -90 °, i.e., x-axis rotation of FIG. 9B.

FIG. 9D rotates FIG. 9C in the roll 90 ° direction.

That is, the rotation in the pitch → heading → roll direction should be converted to the z axis → the x axis → the y axis, but as shown in FIG. will be.

The quaternion may be represented by Equation 1 below as a four-dimensional function, and is composed of a scalar (w) and a vector (v).

q = [w, v] = w + xi + yj + zk

In Equation 1,

이다.

to be.

(

는 q의 켤례)로 정의할 수 있으며, 쿼터니온(q)의 변환행렬은 아래의 수학식 2와 같이 표현될 수 있다.Equation (r) to rotate the vector (p) about any axis

(

May be defined as a conjugation of q, and a transformation matrix of quaternion q may be expressed as in Equation 2 below.

을 만족하는 단위 쿼터니온(Unit Quaternion)이다.In this case, (x, y, z) in Equation 2

Unit Quaternion that satisfies

10 is a diagram illustrating a terrain sample for extracting the target coordinates.

To calculate the target coordinates, first, calculate the elevation of 0m (P) from the aircraft coordinates (easting, northing, altitude), and use the quaternion to determine the pitch, heading, and roll angle of the aircraft. Rotate correspondingly.

Next, obtain a position vector connecting the points calculated by the number of employees at the coordinate point (U) of the aircraft, and find a point where the terrain altitude value (Htn) read from the DTED2 file is larger than the altitude value (Hcn) calculated by sampling. Extract. In other words, it is possible to calculate the intersection point of the terrain and the vector viewed by the mission equipment.

11 is a flowchart of target coordinate extraction using DTED2 data.

The calculation procedure of the target coordinate using the quaternion is as shown in FIG.

In addition, the task control software may determine whether to secure the line of sight in real time to determine whether to communicate with the unmanned aerial vehicle by selecting the visible wireless communication equipment or the CDMA modem by the real-time processing computer 330.

In the past, at least three operators controlled the unmanned aerial vehicle 100 / mission equipment by three pieces of equipment including mission planning equipment, flight control equipment, and video control equipment. By integrating flight control and video control functions into one mission control software, the three devices can be integrated into one device so that one pilot (user) can effectively control the unmanned aerial vehicle 100 / mission equipment. It is designed to be.

As illustrated in FIG. 12, the control device 340 may include a touch panel 341, a flight controller 342, a joystick 343, and a knob 344.

At this time, the control device 340 is controlled by the real-time processing computer 330 to be described later.

The touch panel 341 may be applied with an RS-232 type touch screen, and operating modes of the unmanned aerial vehicle (manual / automatic flight mode, control method control (knob or flight controller), and unmanned aerial vehicle automatic navigation (point navigation method). , Reconnaissance mode, preplanning mode, launch takeoff mode).

Here, the difference between manual and automatic flight is as follows.

In manual flight, if the pilot maintains the pitch of -20 degrees, if the wind or other disturbances occur, the pilot may be -20 degrees, but may be 20 degrees or -25 degrees by the influence of the wind.

However, in the case of automatic flight, if the command of pitch -20 degrees, the onboard equipment always maintains -20 degrees even when the wind blows, Throttle, Rudder, Elevator, Aileron, Brake, Servo motor is controlled.

That is, during manual flight, the pilot directly controls the throttle, the rudder, the elevator, the aileron, the brake, the servo motor of the vehicle, and the automatic flight is equipped with the throttle, the rudder, the elevator, the aileron, the brake, the servo motor. The way to control.

The flight controller 342 may be spaced 100 m or more from the real-time processing computer in the RS-422 method, and controls the rudder, elevator, throttle, aileron, and brake of the unmanned aerial vehicle during manual or automatic flight.

The joystick 343 is in data communication with the real-time processing computer 330 in an RS-232 manner, and can control the altitude, speed, and roll of the unmanned aerial vehicle according to the pilot's selection, or the azimuth angle of the mission equipment, You can also control elevation, zoom in / out of optical / infrared cameras, and auto / manual modes of focus.

The knob 344 performs data communication with the real-time processing computer 330 in an RS-232 manner, controls an altitude, a speed, a heading / roll for automatic navigation flight of the unmanned aerial vehicle, and controls the visible wireless communication device ( To control the antenna azimuth angle.

At this time, controlling the antenna azimuth angle of the visible wireless communication device 400, when the pilot turns the knob 344 to calculate the amount of change of the knob to convert to a speed value. Here, the speed value refers to the azimuth rotation speed. When the rotation speed is transmitted to the antenna controller as data, the antenna controller receives this data and controls the motor in the antenna.

The real time processing computer 330 is equipped with a Real Time Operating System (RTOS) VxWorks Kernel, and controls the unmanned aerial vehicle in real time by task scheduling.

That is, the real-time processing computer 330 is developed based on a real-time operating system (RTOS), the touch panel 341, knob 344, flight controller 342, which actually controls the unmanned aerial vehicle 100, The joystick 343 and the CDMA modem 350 communicate with each other through RS-232 or RS-422 communication and control in real time.

The real-time processing computer 330 receives the signals from the flight control computer 310 and the control device 340 to encode a signal to be transmitted to the unmanned aerial vehicle 100 to the visible wireless communication device 400 and the CDMA modem ( 350, and decodes the signal received from the unmanned aerial vehicle 100 through the visible wireless communication device 400 or the CDMA modem 350 and transmits the signal to the flight control computer through a communication method.

At this time, the result of whether or not secured the visible line space analyzed by the mission control software mounted on the flight control computer 310 is determined as the non-obtained space, or the line wireless communication equipment 400 is malfunctioned or trivial due to failure In this case, the CDMA modem 350 may automatically perform wireless communication with the unmanned aerial vehicle 100 using a commercial CDMA communication network. That is, in the space where the line of sight is secured, the antenna controller is controlled to perform wireless communication with the unmanned aerial vehicle 100. In the space where the line of sight is not secured, the CDMA modem 350 is controlled by an RS-232 communication method. Wireless communication with the unmanned aerial vehicle 100.

In this case, a pilot may manually select whether to use the visible wireless communication device 400 or the CDMA modem 350 to wirelessly communicate with the unmanned aerial vehicle 100.

The monitor 320 may include an upper monitor 321 and a lower monitor 322, and displays signal information received from the unmanned aerial vehicle 100 / mission equipment through the flight control computer 310.

The upper monitor 321 may be an electronic map, a mission plan or a visible line analysis result can be shown before the flight, and can monitor the mission status of the unmanned aerial vehicle during the flight.

The lower monitor 322 shows various flight information (altitude, speed, heading, roll, turn rate, warning information, etc.) and mission information (azimuth, elevation, target coordinate, etc.) of the unmanned aerial vehicle 100. Can be. In this case, the lower monitor 322 may apply a touch screen to easily control the unmanned aerial vehicle 100 and the visible wireless communication device 400 by a pilot (user).

13 illustrates various buttons formed on the lower monitor 322 to which a touch screen is applied.

The unmanned aerial vehicle control system according to the present invention may further include a network hub 360 between the flight control computer 310 and the real-time processing computer 330, as shown in FIG.

The flight control computer 310 and the real-time processing computer 330 is connected by the network hub 360 and transmits and receives various signals by Ethernet (TCP / IP) communication.

At this time, the network hub 360 may be connected to a real time processing computer other than the real time processing computer 330 (hereinafter referred to as a sub real time processing computer).

In this case, there are two PowerPC series single board computers (SBC, Single Board Computer, real time processing computer 330 and sub real time processing computer 331) for real time processing.

When the real time processing computer 330 controls the unmanned aerial vehicle 100, the sub real time processing computer 331 monitors the real time processing computer 330 in real time using a network sniffing technique, In the event of a fault of the real time processing computer 330, the sub real time processing computer 331 may be designed to perform a function of the real time processing computer 330 instead.

The unmanned aerial vehicle control system according to the present invention includes a mission control software in which the mission control, flight control, and image control functions are integrated in the flight control computer 310, as shown in FIGS. 15A and 15B. The mission control equipment 300, the monitor 320, the flight control computer 310, the real-time processing computer 330, the control device 340 and the CDMA modem 350 is mounted on the structure of the form.

16 is an actual picture of the mission control equipment 300 mounted in one console rack.

5 is a real picture showing an example of a one-ton vehicle as the integrated ground control equipment 200 constituting the unmanned aerial vehicle control system according to the present invention.

The integrated ground control equipment 200 may be mounted on various structures such as a vehicle or a vessel of more than or less than one ton vehicle.

17 is an actual picture of the mission control equipment 300 mounted on a portable bag and a laptop.

As shown in FIG. 17, the unmanned aerial vehicle control system according to the present invention can be miniaturized by the portable bag and the notebook.

At this time, the monitor of the notebook performs the function of the lower monitor 322, the monitor installed on the inner surface of the upper plate (lid) of the carrying bag performs the function of the upper monitor 321.

In addition, the knob 344 and the touch panel 341 are installed on the lower plate of the carrying bag, the flight controller 342 is a port to be connected by a cable.

In addition, the flight control computer 310, real-time processing computer 330, CDMA modem 350, etc. are mounted as a board in the inside of the carrying bag.

At this time, the visible wireless communication device 400 is separately mounted on the trivet, as shown in FIG.

The process of transmitting / receiving various signals by the unmanned aerial vehicle control system according to the present invention is as follows.

First, in case of reception, the visible information of the unmanned aerial vehicle 100, the mission information signal of the mission equipment through the visible wireless radio communication equipment or CDMA modem mounted on the unmanned aerial vehicle, the visible wireless radio communication of the integrated ground control equipment 200. Receive with equipment 400 or CDMA modem 350.

The visible wireless communication equipment 400 or the CDMA modem 350 transmits a signal related to the unmanned aerial vehicle / mission equipment to the real time processing computer 330.

The real-time processing computer 330 decodes the received signal and transmits it to the flight control computer 310 by Ethernet communication.

The real-time processing computer 330 displays and stores the received information of the unmanned aerial vehicle / commission equipment on the monitor 320 and analyzes the target coordinates and visible line space.

The pilot may view the information of the unmanned aerial vehicle / mission equipment through the monitor to control / control the unmanned aerial vehicle / mission equipment.

Next, in the case of transmission, the flight control computer 310 transmits the encoded data signal or the control device 340 signal to the real time processing computer 330, and the real time processing computer 330 transmits the signal. The encoded signals are re-encoded and transmitted to the visible wireless communication device 400 and the CDMA modem 350.

In this case, when the visible line is secured, the visible wireless communication device 400 is used, and when the visible line is not secured, the CDMA modem 350 is used, which is the real time processing computer 33. Control by the pilot and manual selection by the pilot.

Preferred embodiments of the present invention described above are disclosed to solve the technical problem, and those skilled in the art to which the present invention pertains (man skilled in the art) various modifications, changes, additions, etc. within the spirit and scope of the present invention. It will be appreciated that such modifications, changes and the like should be regarded as falling within the scope of the following claims.

Although the present invention has been described using a commercial CDMA mobile communication network as an example, the present invention is not limited thereto and may be applied to all mobile communication systems regardless of a network type such as a GSM network and a WCDMA network.

1 is a block diagram of an unmanned aerial vehicle control system according to a preferred embodiment of the present invention

2 is a block diagram of the integrated ground control equipment

4 is a real photograph showing an example of a visible wireless communication device

5 is a picture of CDMA modem

Figure 6 is a photograph of a vehicle equipped with integrated ground control equipment

7 is a photograph showing the control of the unmanned aerial vehicle in the integrated ground control equipment of the vehicle

8 is a block diagram of the mission control equipment and visible wireless communication equipment

9A to 9D are graphs for explaining the gimbal lock phenomenon of the Euler formula.

10 is a topographic sample diagram for extracting target coordinates

11 is a flowchart of target coordinate extraction using quaternion

12 is a block diagram of a control device

13 is a configuration diagram of a button formed on the lower monitor

14 is a block diagram of the mission control equipment and visible wireless communication equipment to which the network sniffing technique is applied

15A and 15B are schematic diagrams of mission control equipment installed in one console rack.

16 is a real picture of the mission control equipment installed in one console rack

17 and 18 is a real picture of the portable mission control equipment and visible wireless communication equipment

<Description of Symbols for Main Parts of Drawings>

10: vehicle 100: unmanned aerial vehicle

110: target 200: integrated ground control equipment

300: mission control equipment 310: flight control computer

320: monitor 321: upper monitor

322: lower monitor 330: real-time processing computer

331: sub real-time processing computer 340: control device

341: touch panel 342: flight controller

343: joystick 344: knob

350: CDMA modem 400: visible wireless communication equipment

410: antenna controller 420: antenna

S10: Sampling 1 / n moving coordinate calculation step

S20: Altitude value (Hc) calculation step

S30: coordinate transformation step

S40: read DTED2 file of the corresponding coordinates

S50: DTED2 altitude value (Ht) extraction step

S60: size comparison step of Ht and Hc value

Claims (9)

delete Unmanned aerial vehicle equipped with a wireless transceiver and a CDMA modem; And In the unmanned aerial vehicle control system including an integrated ground control equipment for performing wireless communication with the unmanned aerial vehicle, The integrated ground control equipment, A wireless communication device for performing wireless communication in a space where the unmanned aerial vehicle and the line of sight are secured; A CDMA modem for performing wireless communication using a CDMA communication network in a space where the unmanned aerial vehicle and the visible line are not secured; A flight control computer equipped with mission control software integrating the mission planning, flight control, and image control functions of the unmanned aerial vehicle; A control device for controlling the operation of the unmanned aerial vehicle and its mission equipment; Real-time processing computer that receives the signals from the flight control computer and the control device, encodes them, transmits them to the wireless communication device and the CDMA modem, decodes the signals received through the wireless communication device or the CDMA modem, and transmits them to the flight control computer. ; And a monitor displaying a signal received from the unmanned aerial vehicle through the flight control computer. Unmanned aerial vehicle control system comprising a. The computer of claim 2, wherein the real-time processing computer comprises: Real time operating system (RTOS) Unmanned aerial vehicle control system, characterized in that the control of the unmanned aerial vehicle and its mission equipment in real time by mounting the VxWorks kernel. According to claim 2, The mission control software mounted on the flight control computer, Unmanned aerial vehicle control system, characterized in that for performing the calculation of the target coordinates from the signal received from the real-time processing computer using a quaternion (Quaternion). According to claim 2, The mission control software mounted on the flight control computer, The unmanned aerial vehicle control system, characterized in that for converting the video signal of the signal received from the real-time processing computer into a digital video and stored in the flight control computer in real time. The method of claim 2, wherein the control device, A knob for controlling autopilot flight, including altitude, speed, heading / roll, and azimuth control of the antenna of the unmanned aerial vehicle; Manual navigation, including altitude, speed, and roll control of the unmanned aerial vehicle or zoom-in / out to focus / optical (EO / IR) cameras of the mission equipment, depending on pilot selection. A joystick to control the; A flight controller for controlling the flight of the unmanned aerial vehicle during automatic or manual navigation flight of the unmanned aerial vehicle; And A touch panel for controlling a control method of the unmanned aerial vehicle and a manual / automatic flight mode; Unmanned aerial vehicle control system comprising a. The method of claim 2, wherein the monitor, Display flight information including the electronic map and the location, altitude and heading information of the unmanned aerial vehicle on the electronic map, Displaying the analysis result of the mission plan and whether the line of sight secured, An upper monitor capable of displaying a video at the pilot's choice; A lower monitor displaying mission information and target coordinates including the flight information and the azimuth and elevation of the mission equipment; Unmanned aerial vehicle control system, characterized in that consisting of. The method of claim 7, wherein the lower monitor, The unmanned aerial vehicle control system further comprising a function of controlling the operation of the unmanned aerial vehicle and the operation of the mission equipment by a touch screen method. According to claim 2, The mission control equipment, A network hub for connecting the flight control computer and the real-time processing computer; A sub real time processing computer connected to the network hub to monitor the real time processing computer in real time and to perform a function of the real time processing computer by a network sniffing technique when the real time processing computer does not operate; Unmanned aerial vehicle control system comprising a further.

Images