KR101500480B1 - Wireless control system for unmanned aerial vehicle - Google Patents

Wireless control system for unmanned aerial vehicle Download PDF

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Publication number
KR101500480B1
KR101500480B1 KR1020130098461A KR20130098461A KR101500480B1 KR 101500480 B1 KR101500480 B1 KR 101500480B1 KR 1020130098461 A KR1020130098461 A KR 1020130098461A KR 20130098461 A KR20130098461 A KR 20130098461A KR 101500480 B1 KR101500480 B1 KR 101500480B1
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communication device
terrestrial
control system
transmitting
voice
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KR1020130098461A
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Korean (ko)
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KR20150021293A (en
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송복섭
박범진
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한국항공우주연구원
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Abstract

The present invention relates to a wireless control system for an unmanned aerial vehicle, and more particularly, to a wireless control system for an unmanned aerial vehicle, which comprises an unmanned air vehicle equipped with an onboard communication device for communicating using a mobile communication network, a ground communication device for communicating using the onboard communication device and a mobile communication network,
And a ground control system for controlling the aircraft. As a result, not only the communication equipment can be simplified to reduce the cost, but also the performance of the mission equipment can be improved by reducing the weight of the unmanned aerial vehicle.

Description

[0001] WIRELESS CONTROL SYSTEM FOR UNMANNED AERIAL VEHICLE [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wireless control system for an unmanned aerial vehicle, and more particularly, to a wireless control system for an unmanned airplane, which communicates with a ground control system using a communication device communicating using a commercial mobile communication network, To reduce the weight of the unmanned aerial vehicle and to reduce costs, thereby improving the mission capability of the unmanned aerial vehicle.

Unmanned airplanes are airplanes that are not equipped with a coordinator. They are remotely controlled from the ground. They fly according to pre-programmed programs or autonomously fly by judging their own environment.

As shown in FIG. 1, the unmanned airplane is equipped with a mounted communication device 10 for communicating with a ground surface control system, and the ground control system is equipped with a terrestrial communication device 10 for communication with the mounted communication device 10 30 are mounted. Communication between the unmanned aerial vehicle and the ground control system is described in Korean Patent Laid-Open Nos. 10-2000-0017892 and 10-0745088.

The on-board communication device 10 collectively refers to a transceiver mounted on an unmanned airplane and receives an uplink signal from the terrestrial control system and transmits the uplink signal to a mounted equipment including a digital flight control computer (DFCC) Collect and generate downlink signals and transmit them to the ground.

The terrestrial communication device 30 is installed in the ground control system to generate an uplink signal transmitted to the unmanned airplane, and receives the downlink signal transmitted from the unmanned airplane. The ground control system is equipped with an antenna and tracking system that can point to an unmanned aerial vehicle to track unmanned aerial vehicles.

S, C, X, Ku, Ka, and UHF bands in the uplink and downlink communication frequency ranges of the on-board communication device 10 and the terrestrial communication device 30. [ The on-board communication device 10 mainly uses DSSS (Direct Sequence Spread Spectrum) / BPSK (Binary Phase Shift Keying), BPSK, SS-QPSK (Spread Spectrum-Quadrature Phase Shift Keying) FSK, FM, and OQPSK are applied to the downlink.

When using the UHF band, the on-board communication device 10 includes an onboard communication controller (ADTC) 19, a mounted transceiver (AUTR) 17, a mounted high output amplifier (AUPA) 15, 13, an embedded antenna (AUA) 11, and the like. The terrestrial communication device 30 includes a terrestrial communication controller (GDTC) 39, a terrestrial transceiver (GUTR) 37, a terrestrial high power amplifier (GUPA) 35, a terrestrial dual communication device (GUD) 33, a GPS antenna 32, An antenna (GUA) 31, and the like.

In this conventional unmanned aerial vehicle radio control system, a voice communication relay device (not shown) for voice communication with the air-conditioner station must be additionally provided together with the on-board communication device 10 and the terrestrial communication device 30. The voice communication relay apparatus demodulates the wireless voice signal received from the air-conditioner station and processes it as a voice codec, and transmits the voice voice codec to the ground control system through the downlink. On the contrary, the voice signal of the operator of the ground control system is transmitted to the unmanned air vehicle through the uplink, then modulated by the voice communication relay device and transmitted to the air traffic control station.

As described above, in order to operate the conventional unmanned aerial vehicle, the on-board communication device, the terrestrial communication device, the voice communication repeater, and the like are required. In order to communicate within a given communication band, Should be composed of various equipment. As a result, not only the cost for installing each equipment is increased but also the operation of the mission equipment may be restricted due to an increase in the weight of the UAV due to the heavy equipment.

(Patent Document 1) KR10-2000-0017892 A

(Patent Document 2) KR10-0745088 B

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a radio control system for a UAV that can reduce costs and enhance the performance of an unmanned aerial vehicle by simplifying communication equipment.

According to an aspect of the present invention, there is provided a wireless control system for an unmanned airplane, including: an unmanned airplane equipped with a communication device for communication using a mobile communication network; And a terrestrial control system having a terrestrial communication device for communicating and controlling the unmanned air vehicle.

Wherein the unmanned aircraft comprises a flight control computer for operating an unmanned airplane in accordance with command information transmitted from the ground control system and received via the onboard communication device and an electronic control unit for operating the mission equipment according to an instruction from the flight control computer As shown in FIG.

The on-board communication device is a mobile communication terminal using at least one mobile communication system among 3G, LTE, and 4G. The mobile communication terminal uses a connection method such as CDMA, WCDMA, WiBro, LTE, LTE-Evolution, WiBro Evolution, Can be connected.

The on-board communication device transmits and receives information using the RS-422, RS-232, and Ethernet serial communication protocols with the flight control computer, and transmits and receives image information from the camera in an analog manner to the electronic control unit .

The onboard communication device includes a data interface for transmitting and receiving data related to flight control and mission equipment of the unmanned airplane, a video signal interface for transmitting a video shot by the camera of the unmanned airplane, a voice for transmitting and receiving a wireless voice signal, It is possible to communicate using a signal interface.

The on-board communication device may include a data modem for transmitting and receiving data, a voice signal modem for transmitting and receiving voice signals, or a single modem for transmitting and receiving data and voice signals.

The ground control system includes a ground control device for externally displaying information provided from the unmanned airplane using the terrestrial communication device and providing a command to the terrestrial communication device for operating the unmanned airplane, And a laptop control unit for generating instructions for operation of the laptop.

The terrestrial communication apparatus is a mobile communication terminal using at least one of 3G, LTE, and 4G, and the terrestrial communication apparatus is a mobile communication terminal that uses a connection method such as CDMA, WCDMA, WiBro, LTE, LTE-Evolution, WiBro Evolution, Can be connected.

The terrestrial communication device communicates with the terrestrial control device using Ethernet, and the terrestrial control device and the laptop control unit can communicate using an RS-422 serial communication protocol.

The ground communication device includes a data interface for transmitting and receiving data related to flight control and mission equipment of the unmanned airplane, a video signal interface for transmitting a video shot by the camera of the unmanned airplane, a voice for transmitting and receiving a wireless voice signal, It is possible to communicate using a signal interface.

The terrestrial communication apparatus may include a data modem for transmitting and receiving data, a voice signal modem for transmitting and receiving voice signals, or a single modem for transmitting and receiving data and voice signals.

According to the present invention, since the ground communication system and the unmanned airplane are provided with the terrestrial communication device and the mounted communication device that communicate with each other using the mobile communication network, not only the communication equipment can be simplified to reduce the cost, The performance of the mission equipment can be improved.

1 is a configuration diagram of a conventional radio control system for an unmanned aerial vehicle,
FIG. 2 is a configuration diagram of a radio control system of an unmanned aerial vehicle according to the present invention,
FIG. 3 is a schematic diagram showing an interface used in the radio control system of FIG. 2. FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

2 is a block diagram of a wireless control system for an unmanned aerial vehicle according to the present invention.

The radio control system of the UAV 50 according to the present invention includes an unmanned airplane 50 having a built-in communication device 60 for communicating using a mobile communication network, a built-in communication device 60 and a mobile communication network And a ground control system 70 that controls the unmanned air vehicle 50 with a terrestrial communication device 80 that communicates.

In this wireless control system, the on-board communication device 60 installed in the UAV 50 and the ground communication device 80 installed in the ground control system 70 can be controlled by remote control during the mission of the UAV 50, Can be changed. The onboard communication device 60 and the terrestrial communication device 80 perform full duplex communication in which commands and flight state data can be exchanged and are transmitted to the ground control system 70 and the unmanned airplane 50 And can transmit and receive necessary information and signals between electronic equipments.

The unmanned airplane 50 receives command information transmitted from the ground control system 70 via the on-board communication device 60 and controls the flight control computer (FCC) 50 operating the unmanned airplane 50 according to the received command information. An electronic control unit (ECU) 61 for operating the mission equipment in response to a command from the flight control computer 55, and a camera 63. [

The built-in communication device 60 is a mobile communication terminal using a 3G (3Generation) / LTE (Long Term Evolution) / 4G (4Generation) mobile communication system and includes CDMA, WCDMA, WiBro, LTE, LTE- Or the like can be connected to the mobile communication base station.

The built-in communication device 60 transmits and receives information directly to and from the flight control computer 55 and the electronic control unit 61 and transmits a serial communication protocol such as RS-422, RS-232 and Ethernet to the flight control computer 55 And transmits and receives video information from the camera 63 to the electronic control unit 61 in an analog manner.

The electronic control unit 61 transmits and receives information using the RS-422 serial communication protocol with the flight control computer 55, and transmits and receives image information in an analog manner to the camera 63. [

The installed communication device 60 may have a data modem and a voice signal modem separately or may include only one modem according to a mobile communication system to be used.

At present, voice is provided through 3G network in Korea, and DBDM (Dual Band Dual Mode) scheme, which is provided through 4G network, LTE, is used. In addition, 3G is provided in two types of WCDMA and CDMA. In case of transmitting and receiving voice signals in the WCDMA system and transmitting and receiving data in the LTE system, a circuit switched fallback (CSFB) To WCDMA networks. At this time, data transmission / reception is impossible. On the other hand, when the CDMA scheme is used, data can be transmitted and received through the LTE network even while transmitting and receiving voice signals through the 3G network.

According to the diversity of the communication method, the on-board communication device 60 is provided with one modem for transmitting and receiving data and voice signals when a combination of WCDMA and LTE is used, but a system combining CDMA and LTE In case of using, a modem for transmitting / receiving data and a modem for transmitting / receiving a voice signal must be separately provided. Meanwhile, when a system capable of transmitting both voice and data through LTE or 4G is developed, a single modem based on the LTE scheme may be installed in the on-board communication device 60 to transmit and receive data and voice signals, to be.

The embedded communication device 60 can communicate with the flight control computer 55 and the electronic control unit 61 using three interfaces as shown in Fig. The three interfaces may include a data interface 51, a video signal interface 52, and a voice signal interface 53.

(Tele-Command) data, TM (Tele-Metry) data, LC (Link Control) data, and LS (Link Status) data are transmitted through the data interface 51. The TC data is flight control command data for controlling flight control, and the TM data is state data. The data is transmitted from the ground control system 70 to the flight control computer 55 using the uplink, And is transmitted from the control computer 55 to the ground control system 70. The LC data is command data for controlling the performance of components constituting the built-in communication device 60, and the LS data is data representing the state of the components constituting the built-in communication device 60. [ In addition, the system interface between the onboard communication device 60 and the terrestrial communication device 80 and the DGNS data for confirming the accurate altitude information when the airplane is taking off and landing can be transmitted and received via the data interface 51.

The video signal interface 52 is an interface for transmitting an image photographed by the camera 63 of the UAV 50 and can provide an analog video signal to the onboard communication device 60. The voice signal interface 53 transmits a voice signal from the air control station to the onboard communication device 60 using the VHF band or a voice signal of the control equipment operator provided from the ground control system 70 to the flight control computer 55 ). ≪ / RTI >

The flight control computer 55 is provided with command information necessary for operating a flight provided from the ground control system 70 from the onboard communication device 60 and controls the flight of the unmanned airplane 50 according to the command information, .

The command information necessary for the flight operation of the UAV 50 includes command information related to flight control and navigation and command information related to the operation of the mission equipment. Here, the flight adjustment and navigation commands include commands for controlling the attitude control mode, the altitude / speed / bearing maintenance mode, and the automatic navigation mode. The autopilot mode includes point navigation, preplanning mode, automatic takeoff and landing flight, return mode, collision avoidance mode, camera guidance mode, and emergency mode. The command information related to the mission equipment operation includes operation commands such as rotation, reduction and enlargement of the camera 63 mounted on the mission equipment, and optical / thermal conversion.

The flight control computer 55 can transmit the aviation state information collected from the camera 63 installed on the unmanned airplane 50, the mission equipment, various sensors, etc. to the ground control system 70 via the onboard communication device 60 . The flight status information includes flight attitude and navigation information, analog sensor information, and various mounting equipment check results. Here, the navigation information includes information such as speed, altitude, bearing, and position, and the analog sensor information includes information such as temperature, pressure, and vibration.

The ground control system 70 receives the information provided from the unmanned airplane 50 using the terrestrial communication device 80 and displays the received information to the outside and transmits commands necessary for operation of the unmanned airplane 50 to the terrestrial communication And a laptop control unit 81 for generating commands for the operation of the ground control system 75 (GCS: Ground Control System), the unmanned airplane 50 and the mission equipment,

The terrestrial communication device 80 is a mobile communication terminal using a 3G / LTE / 4G mobile communication system as in the case of the on-board communication device 60 and is directly communicated with the ground control device 75 and the laptop control unit 81 do.

The ground communication device 80 and the ground control device 75 communicate using Ethernet and the ground control device 75 and the laptop control unit 81 can communicate using the RS-422 serial communication protocol.

The ground control device 75 is provided with the aviation state information collected by the UAV 50 through communication between the onboard communication device 60 and the terrestrial communication device 80. The aviation state information includes aviation posture and navigation Information, analog sensor information, and various on-board equipment check results. The ground control unit 75 provided with the aviation state information displays the information to the outside so that the operator who operates the ground control system 70 can grasp the operation state of the UAV 50. [

The ground control device 75 transmits commands inputted by the operator of the ground control system 70 to the terrestrial communication device 80 via the laptop control unit 81 and the terrestrial communication device 80 transmits the uplink And transmit the flight control and mission equipment control data to the flight control computer 55 of the unmanned airplane 50 through the laptop control unit 81.

The laptop control unit 81 is used for the operator of the ground control system 70 to input information to be transmitted to the unmanned airplane 50 and the information inputted through the laptop control unit 81 is transmitted to the ground control device 75 And the mission to be performed by the unmanned airplane 50, and the like.

The terrestrial communication device 80 is connected to the ground control device 75 and the laptop control unit 81 via the data interface 71, the video signal interface 72 and the voice signal interface 73, And information can be transmitted and received. Since the type of data transmitted through each interface is the same as that of the on-board communication device 60, repeated description will be omitted.

Hereinafter, a process of transmitting and receiving information in the wireless control system of the UAV 50 will be described.

When the unmanned airplane 50 starts operating, the flight control computer 55 of the unmanned airplane 50 operates the unmanned airplane 50 in accordance with commands provided from the ground control system 70, while the unmanned airplane 50 The camera 63 installed in the vehicle, the mission equipment, various sensors, and the like. The flight control computer 55 transmits the acquired flight state information to the onboard communication device 60 and the onboard communication device 60 transmits the collected state information to the ground communication device 80 of the ground control system 70 by using the downlink do. Then, the terrestrial communication device 80 transmits the flight status information to the ground control unit 75, and the ground control unit 75 displays the flight status information to the outside.

The operator of the ground control system 70 can use the laptop control unit 81 in consideration of the flight status information displayed through the ground control unit 75 and the mission of the unmanned airplane 50, , Enter commands related to the operation of the mission equipment. The inputted command is transmitted to the terrestrial communication device 80 via the terrestrial control device 75 and the terrestrial communication device 80 transmits the information to the onboard communication device 60 using the uplink. Then, the on-board communication device 60 transfers the information to the flight control computer 55.

On the other hand, when a wireless voice signal is received from the air-border control station, it is provided as a modem of the onboard communication device 60, and the onboard communication device 60 uses the downlink to transmit the voice signal to the terrestrial communication device 80 of the terrestrial control system 70, Lt; / RTI > Then, the terrestrial communication device 80 transmits the wireless voice signal to the terrestrial control device 75. The operator of the ground control system 70 hears a voice message from the airspace controller and inputs voice through the laptop control unit 81 and the voice of the operator is mounted through the ground control device 75 and the terrestrial communication device 80 And is provided to the communication device 60. The onboard communication device 60 transmits the operator's voice signal of the ground control system 70 to the airspace controller.

As described above, in the wireless control system of the present unmanned airplane 50, the ground communication system 80 and the on-board communication apparatus 60 that communicate with the ground control system 70 and the UAV 50 by using the mobile communication network, respectively So that the ground control system 70 and the UAV 50 can transmit and receive information using the mobile communication network. Accordingly, it is possible to reduce the cost and increase the payload of the UAV 50 by reducing the weight of the UAV 50 because it does not require the existing complicated communication equipment And can improve the performance of the mission equipment. In addition, since the terrestrial communication device 80 and the on-board communication device 60 can both transmit and receive data and voice signals using the mobile communication network, the LTE network can quickly transmit / receive large capacity information such as high- . On the other hand, since mobile communication base stations are installed nationwide, it is possible to control flight and flight anywhere in the base station.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, Of the right.

50: unmanned aircraft 55: flight control computer
60: mounted communication device 61: electronic control unit
63: Camera 70: Ground control system
75: Ground control device 80: Ground communication device
81: Laptop control unit

Claims (12)

  1. An unmanned aerial vehicle having a built-in communication device for communicating using a mobile communication network,
    A terrestrial communication device for communicating with the on-board communication device using a mobile communication network, and
    A ground control system for controlling the unmanned airplane
    / RTI >
    Wherein the unmanned airplane comprises a flight control computer for operating the unmanned airplane in accordance with command information transmitted from the ground control system and received via the onboard communication device and an electronic control unit Further comprising a control unit,
    The on-board communication device is a mobile communication terminal using at least one mobile communication system among 3G, LTE, and 4G. The mobile communication terminal uses a connection method such as CDMA, WCDMA, WiBro, LTE, LTE-Evolution, WiBro Evolution, And transmits and receives information to and from the flight control computer using an RS-422, RS-232, and Ethernet serial communication protocol, transmits and receives image information from the camera in an analog manner to the electronic control unit,
    The onboard communication device includes a data interface for transmitting and receiving data related to flight control and mission equipment of the unmanned airplane, a video signal interface for transmitting a video shot by the camera of the unmanned airplane, a voice for transmitting and receiving a wireless voice signal, Communication using a signal interface,
    The on-board communication device includes a data modem for transmitting and receiving data and a voice signal modem for transmitting and receiving voice signals,
    The ground control system includes a ground control device for displaying information provided from the unmanned airplane by using the ground communication device and providing an instruction for operating the unmanned airplane to the terrestrial communication device, And a laptop control unit for generating an instruction for operation of the equipment,
    The voice signal modem of the on-board communication device transmits a wireless voice signal received from the air-interface controller to the terrestrial communication device and transmits the voice signal to the terrestrial control device,
    Wherein the laptop control unit receives voice from an operator of the ground control system and transmits the voice to the onboard communication device via the terrestrial communication device,
    Wherein the on-board communication device transmits a voice signal of an operator of the ground control system to the air-conditioner station.
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  8. The method of claim 1,
    The terrestrial communication apparatus is a mobile communication terminal using at least one of 3G, LTE, and 4G, and the terrestrial communication apparatus is connected to a mobile communication base station using a connection method such as CDMA, WCDMA, WiBro, LTE, LTE-Evolution, A wireless control system for an unmanned aerial vehicle to access.
  9. The method of claim 1,
    Wherein the terrestrial communication device communicates with the terrestrial control device using Ethernet, and the terrestrial control device and the laptop control unit communicate using an RS-422 serial communication protocol.
  10. The method of claim 1,
    The ground communication device includes a data interface for transmitting and receiving data related to flight control and mission equipment of the unmanned airplane, a video signal interface for transmitting a video shot by the camera of the unmanned airplane, a voice for transmitting and receiving a wireless voice signal, Wireless control system for unmanned aircraft communicating using a signal interface.
  11. The method of claim 1,
    Wherein the terrestrial communication apparatus includes a data modem for transmitting and receiving data and a voice signal modem for transmitting and receiving voice signals.
  12. The method of claim 1,
    Wherein the terrestrial communication apparatus includes a modem for transmitting and receiving data and voice signals.
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KR101980651B1 (en) * 2019-03-28 2019-05-21 한화시스템 주식회사 Data process method to support multiple data comunication
KR101980645B1 (en) * 2019-03-28 2019-05-21 한화시스템 주식회사 Data process method to support multiple data comunication
KR101980647B1 (en) * 2018-11-09 2019-05-21 한화시스템 주식회사 Data process method to support multiple data comunication
KR101980646B1 (en) * 2019-03-28 2019-05-21 한화시스템 주식회사 Data process method to support multiple data comunication
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