KR101445216B1 - Method of terminal guidance of airplane and apparatuse for using the same - Google Patents

Abstract

A method of inducing an end of an aircraft and an apparatus for performing such a method are disclosed. The control method of the unmanned airplane includes a step of determining an area where the unmanned airplane is located, a step of operating and hitting the unmanned airplane by selecting a navigation method and a target hitting method according to the area where the unmanned airplane is located, May be performed based on whether the area where the UAV is located can communicate with the ground control system and whether a global positioning system (GPS) of the UAV is available. Thus, when GPS is not available in aircraft and communication with the ground is interrupted, guided weapon induction can be performed without additional navigation devices.

Description

FIELD OF THE INVENTION [0001] The present invention relates to a method for deriving an aircraft endpoint and a device for performing such a method.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for controlling an aircraft, and more particularly, to a method and apparatus for controlling the operation of an unmanned aerial vehicle.

One of the most popular fields in the field of aeronautical research in the world is unmanned aerial vehicle (UAV) research. It can be used for civil purposes such as scouting, electronic warfare, deceit, attack, target as well as civilian use such as forest fire monitoring, wireless communication relay, environmental pollution measurement, Based on these various applications, unmanned aerial vehicles are being studied in various countries, leading the US and Israel.

Unmanned aerial vehicles are generally aircraft that are autonomously flying by recognizing and judging the environment (obstacle, route) by the remote control on the ground without pilots or by programming previously entered or by the aircraft itself . The endpoint guidance method is an aviation navigation assistance method provided for the convenience of the aircraft pilot in the landing of the aircraft or in the flight to the dropping facility.

For example, one of the dead end guidance methods used in self-propelled small unmanned aerial vehicles is to use a global positioning system (GPS) to calculate its location and target location, In the case of using the GPS to perform terminal derivation, accurate distinction can not be performed if disturbance occurs due to external disturbance to the GPS provided in the aircraft. GPS based navigation system applied to guided weapons is highly reliable equipment. Therefore, when there is no auxiliary / emergency navigation device for disturbance of the GPS-based navigation device, there is a problem that the accuracy of the aircraft is lowered when the terminal is guided.

The use of redundant equipment such as anti-jamming equipment in aircraft to prevent GPS disturbance is very disadvantageous in terms of weight / volume / cost, making it difficult to use redundant equipment against GPS disturbances in small guided weapons. For example, cruise-guided weapons such as Tomahawk are equipped with a high-performance GPS-based navigation system, and use topographic navigation and target image recognition techniques. However, since such redundant equipment is expensive, it is difficult to apply expensive redundant equipment to small / low-cost guided weapons.

Thus, an algorithm or technique that is capable of deriving the term, regardless of the availability of GPS, is a trend required for aircraft. An end-point induction algorithm or technique can be used not only for induction of guided weapons but also for reconnaissance unmanned aerial vehicles or unmanned vehicles.

It is an object of the present invention to provide a method for controlling navigation and striking on an unmanned airplane.

It is another object of the present invention to provide an apparatus for performing navigation and batting control in an unmanned aerial vehicle.

According to another aspect of the present invention, there is provided a control method for an unmanned airplane, including: determining an area where the unmanned airplane is located; selecting a navigation method and a target hitting method according to an area where the unmanned airplane is located; Wherein the step of determining the location of the unmanned airplane includes determining whether the area in which the unmanned airplane is located is capable of communicating with the ground control system, May be performed based on whether or not it is available. Wherein the step of determining an area where the UAV is located comprises the steps of: determining that the area where the UAV is located is in a first area when the UAV is communicable with the UAV and the GPS is available; Determining that the second area is an area where the GPS is not available and communicating with the terrestrial control system; determining whether the area where the unmanned airplane is located can communicate with the terrestrial control system and GPS is available And if it is determined that the area is an area, it may be determined that the area is the third area. The step of selecting a navigation method and a target striking method according to an area where the unmanned airplane is located may perform navigation and striking may include operating a virtual path point creation method when the unmanned airplane is located in the second area, And transmitting an image obtained from the unmanned airplane to the terrestrial control system when the aircraft is located in the second area and performing a strike on the target based on the target striking command transmitted from the terrestrial control system . The virtual path point creation method includes the steps of creating a virtual line based on a final path point of the unmanned airplane and a final position of the target, generating a virtual line on the imaginary line within a path point passing radius Generating a first virtual path point and generating a second virtual path point within the path point passing radius generated based on the first virtual path point on the virtual line. The step of selecting a navigation method and a target striking method according to an area where the unmanned airplane is located may perform navigation and striking may include operating a virtual path point creation method when the unmanned airplane is located in the third area, And performing image processing on the image obtained from the unmanned airplane when the aircraft is located in the third area to perform tracking on the target to perform the batting. The virtual path point creation method includes the steps of creating a virtual line based on a final path point of the unmanned airplane and a final position of the target, generating a virtual line on the imaginary line within a path point passing radius Generating a first virtual path point and generating a second virtual path point within the path point passing radius generated based on the first virtual path point on the virtual line. Wherein the step of performing image processing on an image acquired from the UAV when the UAV is located in a third area to perform tracking on the target to perform a batting includes: performing a CAMshift algorithm And performing tracking on the target in the image. The method of controlling an unmanned airplane further includes transmitting the selected navigation method and target hitting method information according to an area where the unmanned airplane is located to the unattended airplane following the unmanned airplane, The virtual path point creation information generated by the UAV may be included.

According to another aspect of the present invention, there is provided an apparatus for controlling an unmanned airplane, comprising: a navigation area determination unit for determining an area where the unmanned airplane is located; And a target hitting method selection unit for selecting a navigation method according to an area where the unmanned airplane is determined by the operating area determination unit, wherein the operating area determination unit It is possible to determine the operating area based on whether the area where the UAV is located can communicate with the ground control system and whether the global positioning system (GPS) of the UAV is available. The navigation area determination unit determines that the area where the unmanned airplane is located can communicate with the terrestrial control system and the GPS is available and determines that the area where the unmanned airplane is located communicates with the terrestrial control system If the area where the GPS is unavailable is determined to be the second area and the area where the unmanned airplane is located is not communicated with the terrestrial control system and the GPS is not available, . The navigation method selection unit may be configured to operate using a virtual path point generation method when the unmanned air vehicle is located in the second area, and the target striking method selection unit may select the unmanned airplane when the unmanned airplane is located in the second area, And transmitting the image obtained from the aircraft to the terrestrial control system and performing striking of the target based on the target striking command transmitted from the terrestrial control system. The virtual path point creation method includes the steps of creating a virtual line based on a final path point of the unmanned airplane and a final position of the target, generating a virtual line on the imaginary line within a path point passing radius Generating a first virtual path point and generating a second virtual path point within the path point passing radius generated based on the first virtual path point on the virtual line. Wherein the navigation method selection unit is configured to operate using a virtual path point creation method when the unmanned air vehicle is located in the third area, and the target striking method selection unit selects the navigation method when the unmanned airplane is located in the third area, And performs tracking on the target by performing image processing on the captured image to perform the hit. The virtual path point creation method includes the steps of creating a virtual line based on a final path point of the unmanned airplane and a final position of the target, generating a virtual line on the imaginary line within a path point passing radius Generating a first virtual path point and generating a second virtual path point within the path point passing radius generated based on the first virtual path point on the virtual line. The target striking method selection unit may be configured to perform tracking on the target in the image using a CAMshift algorithm based on the obtained image. Wherein the controller is further configured to transmit the selected navigation method and the target hitting method information according to the location of the unmanned airplane to the unattended airplane following the unmanned airplane, The navigation method may include virtual path point creation information generated by the unmanned aerial vehicle.

As described above, according to the present invention, it is possible to determine whether the global positioning system (GPS) device is available or not in the operating area of the aircraft, If the communication is not available and the communication is not available, the target can be accurately hit by operating the aircraft in the direction of the target through the virtual path point generation method and the target image analysis method. Thus, when GPS is not available in aircraft and communication with the ground is interrupted, guided weapon induction can be performed without additional navigation devices.

1 is a conceptual diagram illustrating an operation method of an aircraft according to an embodiment of the present invention.
2 is a conceptual diagram illustrating an aircraft navigation method using a virtual path point according to an embodiment of the present invention.
3 is a conceptual diagram illustrating a case where a plurality of planes according to an embodiment of the present invention are operated based on a virtual path point creation method.
4 is a conceptual diagram illustrating a method of tracking a target of an aircraft according to an embodiment of the present invention.
5 is a conceptual diagram illustrating a method of tracking a target of an aircraft according to an embodiment of the present invention.
6 is a flowchart illustrating a method of terminating an aircraft according to an embodiment of the present invention.
FIG. 7 is a conceptual diagram illustrating a control apparatus for an aircraft according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

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

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Hereinafter, the same reference numerals will be used for the same constituent elements in the drawings, and redundant explanations for the same constituent elements will be omitted.

Hereinafter, an embodiment of the present invention discloses a method for performing derivation of induced weapons through a virtual path point generation method and an image analysis method in a small UAV equipped with an induction weapon. However, this method can be used not only for small unmanned aerial vehicles but also for various aircrafts and vehicles, and these embodiments are also included in the scope of the present invention.

1 is a conceptual diagram illustrating an operation method of an aircraft according to an embodiment of the present invention.

Referring to FIG. 1, the aircraft can determine the navigation method of the aircraft and the hit method of the target depending on whether it is possible to communicate with the ground in the operation area and disturbance in the global positioning system (GPS). Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the following, embodiments of the present invention disclose an operation area of an airplane classified according to whether a communication with the ground is possible and a disturbance occurs in a global positioning system do.

The first area 110 is a cruise section of the aircraft, which is capable of communicating with the ground and disturbing the GPS. In this first area 110, navigation is performed using a conventional small unmanned aerial vehicle such as a GPS / INS (global positioning system / inertial navigation system) and an auto / manual pilot and a target hitting method, And perform a blow to the target.

The second area 120 is an area in which the communication LOS (line of sight) is ensured, but it is possible to control the aircraft through communication with the ground. However, it is impossible to operate the aircraft using the GPS- Area. In the second region 120, the aircraft can perform navigation using the virtual path point tracking algorithm according to the embodiment of the present invention as a navigation method.

The virtual path point tracking algorithm generates a virtual line connecting the final path point and the position of the target point at the information processing device such as a flight control computer mounted on the aircraft, when the coordinates of the final target point are input on the aircraft. On the imaginary line, a plurality of virtual route points are generated to control the aircraft to perform the navigation along the virtual route point. The virtual path point tracking algorithm is further described in detail. Also, in the second region 120, the target may be locked-on through communication with the ground to strike the target. For example, in a terrestrial ground control system that communicates with an aircraft, the position of the target can be determined based on information transmitted from an image capturing apparatus provided in the aircraft. The ground control system can control the aircraft to strike the target by issuing a target hit command to the aircraft if the aircraft is within range of the target.

The third region (130) is an area where communication between the ground control system and the aircraft is impossible, and GPS disturbance occurs and the aircraft can not be operated using the GPS-based navigation. That is, unlike the second area 120, it is impossible to control by the ground command in the third area 130. In the third region 130, a virtual path point tracking algorithm can be used as in the second region 120 as an aircraft navigation method. In addition, since communication with the ground control system is not possible in the third area 130, various image processing methods can be used to determine whether to hit the target in the aircraft. For example, the final target can be traced and struck based on image processing methods such as meanshift and CAMShift algorithms. The final target tracking method based on such image processing will be further described below in the embodiment of the present invention.

2 is a conceptual diagram illustrating an aircraft navigation method using a virtual path point according to an embodiment of the present invention.

2, the final path point 200 represents the location from which the aircraft is based to perform the virtual path point creation algorithm and the location 250 of the target represents the location of the target, It can be a specific coordinate value as a flight destination of an aircraft.

According to the embodiment of the present invention, a virtual line connecting the final path point 200 and the target position 250 is generated, and a plurality of virtual path points 200-1 to 200-4 are created on the virtual line can do. The virtual path point can be created by placing additional path points within the path point radius 220. [ The path point passing radius 220 is a radius of a predetermined size generated on the basis of the final path point 200 and the virtual path points 200-1 to 200-4 so that the closer the virtual path point is to the target, Can be reduced.

When the navigation of the aircraft is performed using the virtual path points 200-1 to 200-4, the aircraft proceeds in a straight line toward the position of the target. When an aircraft performs a flight along a virtual route point, the aircraft will travel straight on the target. An airplane can take an image of a frontal object through a video camera while operating. When an aircraft is operated within a certain distance from which the target can be photographed, the aircraft can shoot the target through the image capturing device. The closer the aircraft is to the location of the target (250), the higher the probability of securing the target on a camera mounted on an aircraft flying alongside the virtual line.

Even when the aircraft travels on the basis of the plurality of virtual path points 200-1 through 200-4 generated by the virtual path point creation method as described above, even if the flight path of the aircraft deviates from the virtual path point, If the aircraft passes the point passing radius, if the aircraft is guided to the next route point and passes again a plurality of virtual route points, the position of the target may be located in front of the direction of travel of the aircraft. A target located in front of the target can be photographed by a photographing device such as a camera provided on an aircraft, and the target can be traced and finally hit.

In the case of a method of operating a flight by creating a virtual route point, this method is used when the GPS is not available. If the aircraft enters the GPS available section again, Operate aircraft. That is, the aircraft periodically determines whether or not the GPS is available even when the aircraft is operated based on the virtual path point generation method, and the aircraft can be operated through the GPS-based aircraft navigation method when the GPS is available again.

The navigation method using the virtual path point can be applied not only to the operation of one aircraft but also to a case where a plurality of aircraft operate the flight.

3 is a conceptual diagram illustrating a case where a plurality of planes according to an embodiment of the present invention are operated based on a virtual path point creation method.

Fig. 3 exemplarily shows a case where two airplanes fly a flight.

3, when the two planes 300 and 320 fly the flight, the flight information or the generated flight information received from the flight control computer of the leading aircraft 300, which is operated ahead of the two planes, (320). For example, the leader 300 may perform a flight based on a specific route point.

When the leader 300 creates a virtual path point and performs navigation to the target hit point, the virtual path point creation information of the leader 300 is transmitted to the follower 320 through communication in the air period, The flight can be carried out on the basis of.

In addition, the leader 300 performs a flight based on the virtual path point and transmits various flight information such as latitude, longitude, altitude, speed, heading, heading change rate, etc. to the follower 320 at the leader 300 So that a plurality of aircraft can perform flight formation.

It may be possible to maintain the formation size between the leader 300 and the follower 320 using another flight control algorithm without directly transmitting the virtual path point information from the leader 300 to the follower 320. [ Various methods can be used for flight control algorithms of a plurality of aircraft. For example, there may be a method in which the follower 320 maintains a fore and aft distance and a left and right distance set in advance based on a traveling direction of the leader 300, and maintains the formation of the flight. When this method is used, the follower 320 calculates the front-back distance and the left-right distance based on the traveling direction of the leader 300 using the flight information of the leader 300 received from the leader 300. The throttle of the follower is controlled by using the error between the front and rear distance and the preset front and rear distance and the roll of the follower can be controlled by using the error between the left and right distance and the preset left and right distance.

A method of estimating the virtual path point without receiving the information on the virtual path point of the leader 300 directly from the follower 320 by communication with another flight control algorithm can be used. This method can be used when communication between the leader 300 and the follower 320 is impossible.

The follower 320 can navigate based on the position of the estimated virtual path point by estimating the position of the virtual path point generated by the leader by keeping the front and back distance and the left and right distance constant based on the position of the leader 300 have. That is, the follower 320 may generate a virtual path point on the basis of the position of the leader 300, and perform flight on the basis of the generated virtual path point.

4 is a conceptual diagram illustrating a method of tracking a target of an aircraft according to an embodiment of the present invention.

Figure 4 discloses a method for tracking a specific object in image information using a MeanShift algorithm.

The MinShift algorithm is an algorithm that tracks objects in an image using the density distribution of a specific data set in the image information. The minshift algorithm can shift the center of the data in the search area by using the size and position of the search area as an initial value.

Referring to FIG. 4, the minshift algorithm is an algorithm for rapidly tracking an object of a region of interest (ROI) 400 based on a density distribution (feature point, corner, color) of a data set. If the size and position of the initial search area are specified, the color cluster is generated by the repeated color division calculation, and the object of interest can be extracted by determining the boundary based on the initially designated color area. It is possible to track a specific object in the image information through a method of shifting to the center of specific data using a minshift algorithm so that the position of the target in the image information acquired through the image shooting device of the aircraft Can be detected.

Referring to FIG. 4, 1) a certain region of interest (ROI) 400 is selected, and 2) the center of mass 420 where the density of the feature points is greatest in the region is searched. Next, using the means shift vector (430), the interest region (400) is reset around the highest density region and the region having the largest density of the characteristic points again is detected based on the reset interest region (400) can do.

Through repetitive procedures using the minshift algorithm, the aircraft can continuously track the position of the target based on the image information. That is, in the aircraft, the target information can be detected by using the minshift algorithm in the image information obtained while operating based on the virtual path point, and the position of the target can be continuously tracked and hit.

Various algorithms as well as a minshift algorithm can be used to detect the target information in the acquired image information.

5 is a conceptual diagram illustrating a method of tracking a target of an aircraft according to an embodiment of the present invention.

FIG. 5 discloses a method of analyzing an image of a target using a CAMShift algorithm, which is another image tracking algorithm based on a MeanShift algorithm, in order to track a target on an aircraft.

The Continuous Adaptive Mean Shift (CAMShift) algorithm, which is an image processing method applied to the present invention, is an algorithm based on a minshift algorithm. The camshift algorithm is an algorithm that improves the shift algorithm for use in real-time streaming environments such as image tracking. The camshift algorithm can have improved real - time performance in tracking targets on aircraft using the technique of automatically adjusting the size of the search window.

The camshift algorithm basically uses the image of the HSV domain and uses the hue value as the image data. The HSV domain may consist of hue, saturation, and intensity. The reason for using the HSV domain image and using the hue value as the image data is that since the change in illumination intensity in the image is the largest at the luminance, it is possible to make the color value less sensitive to the influence of the illumination to be. Hereinafter, an operation method of the camshift algorithm will be described in the embodiment of the present invention.

Referring to FIG. 5, when a region of interest is given, it is converted into a hue of HSV domain (step S500).

The use of color values is less sensitive to the effects of illumination, and can be ruled out because very small values (darkness) or large values (lightness) in color values are not recognizable.

A histogram is constructed and a color probability distribution is calculated (step S510).

A look-up table of the color histogram of the calculation area can be generated and the target can be tracked by calculating the color probability distribution based on the generated look-up table.

Initially, the size of the search window is determined, and the search window is positioned at the center of the initial location (step S520).

The new mean location first obtains the zeroth moment and then obtains the first moments for x and y, respectively. At this time, the coordinates of the mean location of the new search window are also obtained.

The above process is repeated for the new search window until the min-shift algorithm converges (step S530).

That is, steps S520 and S530 may be performed in the same manner as the procedure performed in the min-shift algorithm described above with reference to FIG.

The minshift algorithm causes the algorithm to converge because the density gradient function goes up to the maximum value. If the change of the coordinate value selected as the center point is smaller than the predetermined threshold value, the shift algorithm can end the repetition and estimate the position as the position of the target.

In performing the camshift algorithm, the initial search window size and position can be selected. When generating a lookup table of the color histogram of the calculation region in step S500, a search window larger than the size of the initial search window is allocated to the center of the calculation region to generate a lookup table of the color histogram (step S540) .

If the center of the object is found in the search window in step S520, the size of the search window may be reduced to a predetermined ratio (step S550).

The aircraft can track the target on the basis of the image information obtained from the image capturing device of the aircraft based on the camshift algorithm. Based on the tracked image information, the aircraft can perform the hitting when it is determined that the target is included within a predetermined range.

6 is a flowchart illustrating a method of terminating an aircraft according to an embodiment of the present invention.

Referring to FIG. 6, an area where an aircraft is located is determined (step S600).

The flight of an aircraft can be controlled via a ground control system and a navigation device such as GPS present on the aircraft. As described above, the operating area of the aircraft can be classified according to whether it is possible to communicate between the aircraft and the ground control system, and whether or not the navigation device provided with the aircraft, such as GPS, is available. Depending on the operating area classified on the basis of whether the aircraft is capable of communicating with the flight control computer and whether or not the navigation device on the aircraft such as GPS is available, the aircraft may perform different navigation methods and target hitting methods.

As described above, the first area is capable of communicating between the aircraft and the ground control system and the GPS is available. In the second area, communication is possible between the aircraft and the ground control system, but the GPS is not available. And the ground control system are not available and GPS is not available.

The operation and hit strategy are selected differently depending on the area where the aircraft is located (step S610).

When the aircraft is in the first area, the navigation can be performed freely by the GPS / INS navigation, the automatic navigation method, and the manual navigation method, which are general navigation methods.

When the aircraft is in the second area, the virtual route point following flight method described above with reference to FIG. 2 can be used to create a plurality of route points on a virtual line connecting the final route point and the hit point to perform the navigation. Communication is possible, the forward image acquired from the camera of the aircraft can be transmitted to the ground control system, and the ground control system can transmit the target hitting command to the aircraft based on the transmitted image.

If the aircraft is in the third area, the aircraft can be operated through the virtual route point-follower flight the same as the second area. Since the third area is an area where communication is impossible, the aircraft can determine the position of the target using an algorithm for acquiring the position of the target based on the image acquired from the camera provided in the aircraft. An algorithm for obtaining the position of the target may be used to track the target, for example, using the above-described MinShift algorithm or CamShift algorithm. On an aircraft, based on image analysis algorithms, the aircraft can be controlled to strike the target if the target is at a certain distance.

The flight position of the aircraft can be continuously determined in order to select the flight method and target hitting method of the aircraft. For example, if an aircraft is operated in the third area and then changes to the first area, the aircraft may again hit the target based on the navigation method and hitting method available in the first area.

FIG. 7 is a conceptual diagram illustrating a control apparatus for an aircraft according to an embodiment of the present invention.

7, the control device of the aircraft may include a GPS 700, a communication unit 710, a navigation area determination unit 720, a navigation method selection unit 730, and a target striking method selection unit 740 .

Each of the constituent parts disclosed in FIG. 7 is separately expressed in terms of functions for the sake of convenience of description, and the plurality of constituent parts disclosed in FIG. 7 may be embodied as one constituent part, or one constituent part may be embodied as a plurality of constituent parts separately. And are included in the scope of the present invention.

The GPS 700 may be implemented as an apparatus for performing navigation of an aircraft. The GPS 700 may be another device for performing an operation of an aircraft as another device.

The communication unit 710 may be implemented to perform communication with the ground control system and / or other aircraft.

The navigation area determination unit 720 can determine whether the navigation area where the aircraft is located is based on availability of the GPS 700 and the communication unit 710. For example, if the area where the aircraft is located is judged based on whether it is possible to communicate with the ground control system and whether the GPS of the aircraft is available, it is classified into the first area, the second area and the third area, Can be determined. The information determined by the operating area determining unit 720 may be transmitted to the navigation method selecting unit 730 and the target striking method selecting unit 740 to determine the operating method and the target striking method of the aircraft.

The navigation method selection unit 730 can determine the navigation method based on the information determined by the navigation area determination unit 720. For example, if the aircraft is located in an area where GPS is not available, the navigation method selection unit 730 may determine to perform navigation on the aircraft based on the virtual path point creation method described above.

The target striking method selecting unit 740 may select the method by which the aircraft strikes the target based on the information determined by the operating area determining unit 720. [ For example, when the communication unit 710 can communicate with the ground control system, the target striking method selecting unit 740 may control the aircraft to hit the target based on the information transmitted from the ground control system. As another example, when communication with the terrestrial control system is impossible in the communication unit 710, the target striking method selecting unit 740 may track the target based on the image processing algorithm based on the image information obtained from the aircraft, can do.

After determining whether availability is available in the GPS 700 and the communication unit 710, availability information of the GPS 700 and the communication unit 710 is directly transmitted to the navigation method selection unit 730 and the target hitting method selection unit 740 And these embodiments are also included in the scope of the present invention.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims. It will be possible.

Claims (16)

delete delete A control method for an unmanned aerial vehicle,
(a) determining an area where the unmanned airplane is located based on whether the area where the unmanned airplane is located can communicate with the ground control system and whether a global positioning system (GPS) of the unmanned airplane is available; and (b) Selecting and operating a navigation method and a target hitting method according to an area where the UAV is located,
If it is determined in step (a) that the area where the UAV is located can communicate with the terrestrial control system and the GPS is not available,
The step (b)
Operating using a virtual path point creation method, and transmitting an image obtained from the unmanned airplane to the terrestrial control system and performing a blow to the target based on the target hitting command transmitted from the terrestrial control system A control method for an unmanned aircraft. 4. The method as claimed in claim 3,
Generating a virtual line based on a final path point of the unmanned aerial vehicle and a final position of the target;
Generating a first virtual path point within the path point passing radius generated based on the final path point on the imaginary line; And
And generating a second virtual path point within the path point passing radius generated based on the first virtual path point on the imaginary line. A control method for an unmanned aerial vehicle,
(a) determining an area where the unmanned airplane is located based on whether the area where the unmanned airplane is located can communicate with the ground control system and whether a global positioning system (GPS) of the unmanned airplane is available; and (b) Selecting and operating a navigation method and a target hitting method according to an area where the UAV is located,
If it is determined in step (a) that the area where the UAV is located can not communicate with the ground control system and the GPS is not available,
The step (b)
Performing a navigation using a virtual path point creation method and performing an image processing on an image acquired by the unmanned airplane by the unmanned airplane to perform tracking on a target to perform a batting. 6. The method as claimed in claim 5,
Generating a virtual line based on a final path point of the unmanned aerial vehicle and a final position of the target;
Generating a first virtual path point within the path point passing radius generated based on the final path point on the imaginary line; And
And generating a second virtual path point within the path point passing radius generated based on the first virtual path point on the imaginary line. The method as claimed in claim 5, wherein, when the UAV is located in a third area, performing image processing on an image acquired from the UAV to perform tracking on the target to perform a batting,
And performing tracking on the target in the image using a CAMshift algorithm based on the acquired image. The method according to claim 3 or 5,
(C) transmitting the selected navigation method and target hitting method information according to the location of the unmanned airplane to the unattended airplane following the unmanned airplane,
And the virtual path point creation information generated in the unmanned airplane includes the virtual path point creation information transmitted to the following unmanned airplane. delete delete A control device for an unmanned airplane,
A navigation area determination unit for determining an area where the unmanned airplane is located based on whether the area where the unmanned airplane is located can communicate with the ground control system and whether a global positioning system (GPS) of the unmanned airplane is available; A navigation method selection unit that selects a navigation method according to an area where the unmanned airplane is located, and a target hitting method selection unit that selects a navigation method according to an area where the unmanned airplane is determined by the navigation area determination unit However,
When the navigation area determination unit determines that the area where the UAV is located can communicate with the terrestrial control system and the GPS is not available,
Wherein the navigation method selection unit is implemented to operate using a virtual path point creation method, and the target striking method selection unit transmits an image obtained from the unmanned airplane to the ground control system, and transmits the target striking command transmitted from the ground control system Wherein the controller is configured to perform a blow to the target based on the received signal. 12. The method of claim 11,
Generating a virtual line based on a final path point of the unmanned aerial vehicle and a final position of the target;
Generating a first virtual path point within the path point passing radius generated based on the final path point on the imaginary line; And
And generating a second virtual path point within the path point passing radius generated based on the first virtual path point on the imaginary line. A control device for an unmanned airplane,
A navigation area determination unit for determining an area where the unmanned airplane is located based on whether the area where the unmanned airplane is located can communicate with the ground control system and whether a global positioning system (GPS) of the unmanned airplane is available; A navigation method selection unit that selects a navigation method according to an area where the unmanned airplane is located, and a target hitting method selection unit that selects a navigation method according to an area where the unmanned airplane is determined by the navigation area determination unit However,
If the navigation area determination unit determines that the area where the UAV is located is not in communication with the ground control system and is not available in GPS,
Wherein the navigation method selection unit is implemented to operate using a virtual path point creation method,
Wherein the target striking method selection unit performs image processing on an image acquired from the unmanned airplane to perform tracking on a target to perform a batting. 14. The method of claim 13,
Generating a virtual line based on a final path point of the unmanned aerial vehicle and a final position of the target;
Generating a first virtual path point within the path point passing radius generated based on the final path point on the imaginary line; And
And generating a second virtual path point within the path point passing radius generated based on the first virtual path point on the imaginary line. 14. The method according to claim 13,
And perform tracking on the target in the image using a CAMshift algorithm based on the acquired image. 14. The method according to claim 11 or 13,
And a communication unit configured to transmit the selected navigation method and target hitting method information according to an area where the unmanned airplane is located to the unattended airplane following the unmanned airplane,
And the virtual path point creation information generated in the unmanned airplane includes the navigation path information transmitted to the following unmanned airplane.

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