KR101644797B1 - Precise position management system on unmanned aerial vehicle - Google Patents

Precise position management system on unmanned aerial vehicle Download PDF

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Publication number
KR101644797B1
KR101644797B1 KR1020150159704A KR20150159704A KR101644797B1 KR 101644797 B1 KR101644797 B1 KR 101644797B1 KR 1020150159704 A KR1020150159704 A KR 1020150159704A KR 20150159704 A KR20150159704 A KR 20150159704A KR 101644797 B1 KR101644797 B1 KR 101644797B1
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KR
South Korea
Prior art keywords
gps
position information
flight
correction
management unit
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KR1020150159704A
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Korean (ko)
Inventor
김세봉
박무양
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김세봉
박무양
유지스페이스 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • B64C2201/127—
    • B64C2201/145—
    • B64C2201/146—

Abstract

The present invention relates to a precise position correction system on an unmanned aerial vehicle, which calculates GPS correction position information in a ground device to be provided to an unmanned aerial vehicle with RF communication, and recalculating GPS position information received from a GPS receiver in the unmanned aerial vehicle with the correction position information provided from the ground device to automatically control the unmanned aerial vehicle to be moved to a precise position. According to the present invention, a precise position correction system on an unmanned aerial vehicle comprises: a ground device (100) providing position information to an unmanned aerial vehicle (200); and the unmanned aerial vehicle (200) flying with position information provided from the ground device (100).

Description

[0001] The present invention relates to a precise position control system for an unmanned aerial vehicle,

The present invention calculates GPS correction position information in the ground device and provides the GPS correction position information to the unmanned flight device through RF communication. The GPS position information received from the GPS receiver in the unmanned airplane device is repositioned as correction position information provided to the ground device, And more particularly, to a precision position correction system for an unmanned aerial vehicle capable of automatically controlling movement of the unmanned flight device.

Unmanned aerial vehicles, also known as unmanned aerial vehicles, have been used primarily as military intelligence detection and attack weapons. In recent years, unmanned aerial platforms have been utilized in various fields such as logistics delivery, disaster relief, broadcasting, and leisure, in addition to military, due to various advantages such as simplicity, promptness and economical efficiency. Especially, multi - copter unmanned airfields have advantages of being free to take off and landing, and hovering function to fly in place, and to be used for shooting in a small area of interest.

In order to move to the position of the route designated by the government authority, the GPS position information provided in the GPS receiver mounted on the unmanned aerial vehicle is used in the registered patent 10-1536095 (the grazing type ranch management and management system of the mountain eco-livestock using the unmanned aerial vehicle) To fly.

However, since only the GPS position information is used for the position information of the route in the unmanned flight device, the unmanned flight device can not move to the correct position due to the error of the GPS position information. There is a problem that arises.

Especially, the multi-copter unmanned aerial platform has advantages such as freedom of takeoff and landing and hovering function to fly into a small area. However, it is a technical limitation to catch position information by using GPS with a metric error There is a problem in that the accuracy of the position of the photograph having the position information made by the unmanned aerial vehicle is not relied on in the surveying field for producing the terrain information.

Registration No. 10-1536095 (Notification Date 2015.07.13)

The present invention solves the problem by calculating the GPS correction position information in the ground apparatus and providing it to the unmanned flight apparatus through the RF communication and reassigning the GPS position information received from the unmanned flight apparatus to the GPS receiver as the corrected position information provided by the ground apparatus The present invention also provides a precise position correction system for an unmanned aerial vehicle capable of automatically controlling movement to an accurate position.

The system for correcting the position of an unmanned flight device according to the present invention includes a ground apparatus 100 for providing position information to the UAV 200 and an unmanned aerial vehicle for flying with position information provided from the ground apparatus 100 The ground device 100 includes an RF communication device 110 for RF communication with the unmanned airplane device 200 and an unmanned flight device location management part 120 for providing the location information of the unmanned airplane device 200 A fixed position management unit 130 for registering the fixed position information and the GPS position information, and a controller 130 for comparing the difference between the fixed position information registered through the fixed position managing unit 130 and the GPS position information, And a GPS correction position transmitter 150 for providing the GPS correction position information to the UAV 200. The UAV 200 includes a plurality of motor driven rotor blades 211, A flight main body 210 that is mounted and capable of flying, The GPS receiver 220 from receiving the received location information, and the ground apparatus includes a control unit 240 for controlling 100 and the communication RF communication device 230, and a flight of a flying body (210).

Preferably, the terrestrial device 100 further comprises a GPS receiver 160 receiving location information from a GPS satellite.

Preferably, the fixed location management unit 130 of the terrestrial apparatus 100 directly receives location information on the area where the terrestrial apparatus 100 is located, receives GPS position information received from the GPS receiver 160 installed together Is provided.

The fixed position management unit 130 of the terrestrial device 100 is preferably provided with position information of an external organ from a fixed external organization and GPS position information received from a GPS receiver 160 installed in an external organ .

The process of confirming the GPS correction position information in the GPS correction position confirmation unit 140 of the ground apparatus 100 may be performed by the GPS receiver 160 through the fixed position information provided through the fixed position management unit 130 Calculates the distance from the fixed position to the respective GPS satellites and the satellite clock error using the received GPS position information, detects whether the GPS position information is updated, and calculates the distance and instantaneous discontinuity of the clock error change ≪ / RTI > Estimating a clock error for the GPS receiver 160 at a fixed position using the distance to each GPS satellite, the satellite clock error, the respective GPS pseudorange and the carrier phase measurements; A GPS pseudorange correction value and a carrier phase correction value are generated through a clock error and a pseudo range measurement for a fixed position GPS receiver 160, a carrier phase measurement, a distance to each GPS satellite, and GPS satellite clock error information And generating GPS corrected position information by estimating a pseudo distance correction value and a carrier phase correction value, which are obtained by removing noise through independent filters, for each channel, a time variation rate of the pseudo range correction value and a time variation rate of the carrier phase correction value. .

The control unit 240 of the UAV 200 preferably includes a managing unit 241 for receiving information on a flight position received from the ground device 100 received through the RF communicator 230, A GPS management unit 242 that manages GPS position information received through the GPS receiver 220 and a GPS correction unit 240 that manages GPS correction position information received from the ground apparatus 100 received through the RF communicator 110. [ And a GPS receiver 220. The GPS receiver 220 calculates the GPS position information received from the terrestrial apparatus 100 based on the GPS position information received through the GPS receiver 220, And a flight control unit 245 for outputting a flight command to move the unmanned aerial vehicle to the corrected final flying position.

Preferably, the unmanned flight control device 200 further includes a camera 250 for capturing an image, and the control unit 240 records a log of the position data on the captured image when the image is captured through the camera 250 And a tacking management unit (246) for tagging the location information of the GPS.

Preferably, the ground device 100 is one of a terminal for adjusting the UAV 200, a notebook, and a management center.

According to the precise position correction system of the UAV of the present invention, the GPS position information received from the GPS receiver in the unmanned aerial vehicle can be corrected to the corrected position information provided by the RF communication, So that it can be automatically controlled to be moved to the next step.

In addition, there is an advantage that the photographing position of the image can be accurately confirmed by tacking on the image photographed by the camera while the unmanned flight device is moved to the set exact position.

In addition, since the GPS position information is corrected in real time using the GPS correction position information provided from the ground device in the UAV, it is possible to precisely control the position of the UAV so as to have an error range of a few centimeters have.

1 is a schematic view of a precise position correction system of an unmanned aerial vehicle according to the present invention;
2 is a block diagram of a ground apparatus according to the present invention;
3 is a block diagram of an unmanned aerial vehicle according to the present invention;
FIG. 4 is a flow chart of an operation procedure of a precision position correcting system of an unmanned aerial vehicle according to the present invention. FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a precise position correction system of an unmanned flight control system of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 1, the precise position correction system of the UAV according to the present invention calculates GPS correction position information of a region where the UAV 200 is flying in real time in the ground device 100, And transmits the GPS position information received from the GPS receiver to the unmanned aerial vehicle 200 through the RF communication, The control unit 200 automatically controls the mobile phone 200 to move to the correct position. At this time, the ground apparatus 100 includes a terminal for adjusting the unmanned aerial flight device 200, a notebook, a management center, and the like. The GPS position information includes position information transmitted from a position information providing apparatus such as a GPS satellite or a GNSS satellite that provides position information.

2, the ground device 100 includes an RF transmitter 110 for RF communication with the unmanned flight device 200, an unmanned aerial device position management unit 120 for providing the unmanned flight device 200 with flight position information, A fixed position management unit 130 for registering the fixed position information and the GPS position information, and a controller 130 for comparing the difference between the fixed position information registered through the fixed position managing unit 130 and the GPS position information, A GPS correction position confirming unit 140 and a GPS correction position transmitting unit 150 for providing the GPS correction position information to the UAV 200. [ In addition, the terrestrial apparatus 100 preferably further includes a GPS receiver 160 that receives position information from a GPS satellite.

On the other hand, the fixed location management unit 130 directly receives location information on the area where the terrestrial device 100 is located, and receives GPS position information received from the GPS receiver 160 installed together. Or may be provided with the location information of the external organization from the fixed external organization and the GPS location information received from the GPS receiver 160 installed in the external organ.

The GPS correction position confirmation unit 140 determines the distance from the fixed position to each GPS satellite using the fixed position information provided through the fixed position management unit 130 and the GPS position information received through the GPS receiver 160, Calculates the clock error, detects whether the GPS position information is updated, and calculates the discontinuity amount of the distance and the clock error change occurring at the instant of updating the GPS position information. Then, the clock error for the GPS receiver 160 at the fixed position is estimated using the distance to each GPS satellite, the satellite clock error, the respective GPS pseudorange, and the carrier phase measurements.

In addition, the GPS pseudorange correction values and the carrier phase correction values are measured through the clock error and pseudo range measurement, the carrier phase measurement, the distance to each GPS satellite, and the GPS satellite clock error information for the fixed position GPS receiver 160 And generates a GPS correction position information by estimating a time varying rate of a pseudo range correction value and a carrier phase correction value of a pseudo range correction value and a carrier phase correction value which are generated by removing noise through independent filters for each channel.

The GPS correction position transmitter 150 encodes the generated GPS correction position information and provides the encoded GPS correction position information to the UAV 200 through the wireless RF communicator 110.

The unmanned flight control device 200 includes a flight main body 210 that is equipped with a plurality of motor-driven rotor blades 211 to enable flight, a GPS receiver 220 that receives position information from a GPS satellite, A control unit 240 for controlling the flight of the flight main body 210, and a camera 250 for capturing an image.

The control unit 240 includes a managing unit 241 for receiving information on a flight position provided from the ground apparatus 100 received through the RF communication unit 230 and a GPS receiver 220 A GPS management unit 242 for managing received GPS position information, a GPS correction position management unit 243 for managing GPS correction position information provided from the ground apparatus 100 received through the RF communicator 110, A final position confirmation unit 244 for calculating GPS correction position information provided from the ground apparatus 100 to the GPS position information received through the correction unit 220 and confirming the final flight position where the error of the GPS position is corrected, A flight control unit 245 for outputting a flight command to move the unmanned aerial vehicle to the final flight position, and a tacking management unit 246 for tacking the GPS position on the image photographed by the camera 250.

The GPS correction position management unit 243 decodes the GPS correction position information received through the RF communicator 230 to check the measurement error, and calculates the distance to the GPS satellite and the carrier phase measurement value.

The tacking management unit 246 tags the position information of the GPS while recording a log of the position data on the photographed image when the image is captured through the camera 250. [

Referring to FIG. 4, the operation of the precise position correction system of the unmanned aerial vehicle according to the present invention will be described.

The ground apparatus 100 is provided with the fixed position of the ground apparatus and the GPS position information or the fixed position and the GPS position information of the specific region (step S101). That is, it receives location information on the area where the terrestrial apparatus 100 is located, receives GPS position information received via the GPS receiver 160 installed in the terrestrial apparatus 100, The location information of the external organization and the GPS position information received from the GPS receiver 160 installed in the external organization.

The terrestrial apparatus 100 decodes the received GPS position information, extracts a pseudo range measurement, a carrier phase measurement, and satellite orbit information (step S102), and calculates a distance from the fixed position to each GPS satellite using each GPS satellite orbit information , Calculates the satellite clock error, detects whether or not the satellite orbital information is updated, calculates the discontinuity of the change in the clock error and the distance at which the satellite orbit information is updated, calculates the distance to each GPS satellite, The pseudo distance and the carrier phase measurement are used to estimate the GPS receiver clock error at the fixed position (step S103). It also generates measurements for each GPS pseudorange correction and carrier phase correction value through the GPS receiver clock error and pseudorange measurements at fixed positions, carrier phase measurements, distance to each GPS satellite, and GPS satellite clock error information, The GPS correction position information is generated by estimating the pseudo range correction value and the carrier phase correction value, the time variation rate of the pseudo range correction value, and the time variation rate of the carrier phase correction value, which are obtained by removing noise through an independent filter (step S104).

Then, the ground apparatus 100 encodes the generated GPS correction position information and provides it to the unmanned aerial vehicle 200 through the wireless RF communication device 110 (step S105).

Meanwhile, the UAV 200 decodes the GPS correction position information received from the ground device 100 to check the measurement error, calculates the GPS correction position information on the distance to the GPS satellite and the carrier phase measurement, The final flight position where the error is corrected is confirmed (step S106).

Then, the flight command is outputted and moved to move the unmanned aerial vehicle to the corrected final flying position (step S107). When the camera 250 captures an image at the final flying position, the GPS position information is tagged in the captured image (Step S108).

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. It is to be understood that within the scope of the appended claims, various changes and modifications may be made.

100: Ground device 110: RF communicator
120: Unmanned aerial vehicle position management unit 130: Fixed position management unit
140: GPS correction position confirmation unit 150: GPS correction position transmission unit
160: GPS receiver 200: unmanned flight device
210: flying body 211: motor-driven rotor blade
220: GPS receiver 230: RF communicator
240: control unit 241: flight position management unit
242: GPS management unit 243: GPS correction position management unit
244: Final position confirmation unit 245:
246: tacking management unit 250: camera

Claims (8)

A ground device 100 for providing position information to the unmanned flight device 200 and an unmanned flight device 200 for flying to a position information provided from the ground device 100,
The ground device 100 includes an RF communication device 110 for RF communication with the UAV 200, an unmanned flight device location management part 120 for providing the UAV information to the UAV 200, A fixed position management unit 130 for registering the GPS position information, a GPS correction position confirmation unit for comparing the difference between the fixed position information registered through the fixed position management unit 130 and the GPS position information, And a GPS correction position transmitter 150 for providing the GPS correction position information to the UAV 200,
The unmanned flight control device 200 includes a flight main body 210 to which a plurality of motor-driven rotor blades 211 are mounted to enable a flight, a GPS receiver 220 to receive position information from a GPS satellite, A control unit 240 for controlling the flight of the flight main body 210, and a camera 250 for capturing an image,
The control unit 240 further includes a tacking management unit 246 for tagging the location information of the GPS while recording a log of location data on the photographed image when the image is captured through the camera 250. [ Precision position correction system. The system of claim 1, wherein the terrestrial device (100) further comprises a GPS receiver (160) that receives position information from a GPS satellite. The fixed position management unit 130 of the ground apparatus 100 directly receives the positional information on the area where the ground apparatus 100 is located from the user and receives the GPS position received from the GPS receiver 160 installed together Wherein the information is provided to the unmanned flight vehicle. The fixed position management unit 130 of the ground apparatus 100 is provided with position information of an external organ from a fixed external organization and GPS position information received from a GPS receiver 160 installed in an external organ Of the unmanned aerial vehicle. delete The control unit 240 of the UAV 200 is connected to the RF unit 230 via the RF communication unit 230 and receives information on the position of the ground station 100 A GPS management unit 242 for managing GPS position information received through the GPS receiver 220 and a GPS (Global Positioning System) management unit 242 for managing GPS correction position information received from the ground apparatus 100 received through the RF communicator 110. [ The correction position management unit 243 and the GPS receiver 220 to calculate the GPS correction position information provided from the ground apparatus 100 to determine the final position where the error of the GPS position is corrected And a flight control unit (245) for outputting a flight command to move the unmanned aerial vehicle to the corrected final flying position. delete The system according to claim 1, wherein the ground device (100) is any one of a terminal for adjusting the UAV, a notebook, and a management center.
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Cited By (6)

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Publication number Priority date Publication date Assignee Title
KR101724581B1 (en) * 2016-07-28 2017-04-07 송법성 Method and System for Drone Wireless Charging using Energy Storage System and Landing Guide using Precision Position Compensation
EP3399665A3 (en) * 2017-05-05 2019-02-13 ATC Technologies, LLC Devices, systems, and methods for communicating with unmanned aerial vehicles
KR20190049086A (en) * 2017-11-01 2019-05-09 주식회사 두시텍 Unmanned High-speed Flying Precision Position Image Acquisition Device and Accurate Position Acquisition Method Using the same
US20210172930A1 (en) * 2019-12-06 2021-06-10 Ganapathi Pamula Sample Processing Unit (SPU)-Equipped Drone for Transporting and Processing Biological Materials and Method of Using Same
KR102568688B1 (en) * 2022-07-13 2023-08-21 한국전자기술연구원 UAV-based image acquisition/preprocessing/transmission system and method
WO2024014615A1 (en) * 2022-07-13 2024-01-18 한국전자기술연구원 Image file/transmission validity verification system and method based on unmanned aerial vehicle

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US7195200B2 (en) * 2002-10-08 2007-03-27 Fuji Jukogyo Kabushiki Kaisha Unmanned helicopter, takeoff method of unmanned helicopter, and landing method of unmanned helicopter
KR101536095B1 (en) 2015-01-14 2015-07-13 농업회사법인 주식회사 에이치알제주 Grassland management system using drone

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US7195200B2 (en) * 2002-10-08 2007-03-27 Fuji Jukogyo Kabushiki Kaisha Unmanned helicopter, takeoff method of unmanned helicopter, and landing method of unmanned helicopter
KR101536095B1 (en) 2015-01-14 2015-07-13 농업회사법인 주식회사 에이치알제주 Grassland management system using drone

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101724581B1 (en) * 2016-07-28 2017-04-07 송법성 Method and System for Drone Wireless Charging using Energy Storage System and Landing Guide using Precision Position Compensation
EP3399665A3 (en) * 2017-05-05 2019-02-13 ATC Technologies, LLC Devices, systems, and methods for communicating with unmanned aerial vehicles
US10531505B2 (en) 2017-05-05 2020-01-07 Atc Technologies, Llc Communicating with unmanned aerial vehicles and air traffic control
KR20190049086A (en) * 2017-11-01 2019-05-09 주식회사 두시텍 Unmanned High-speed Flying Precision Position Image Acquisition Device and Accurate Position Acquisition Method Using the same
KR102075028B1 (en) 2017-11-01 2020-03-11 주식회사 두시텍 Unmanned High-speed Flying Precision Position Image Acquisition Device and Accurate Position Acquisition Method Using the same
US20210172930A1 (en) * 2019-12-06 2021-06-10 Ganapathi Pamula Sample Processing Unit (SPU)-Equipped Drone for Transporting and Processing Biological Materials and Method of Using Same
KR102568688B1 (en) * 2022-07-13 2023-08-21 한국전자기술연구원 UAV-based image acquisition/preprocessing/transmission system and method
WO2024014614A1 (en) * 2022-07-13 2024-01-18 한국전자기술연구원 Image acquisition/pre-processing/transmission system and method based on unmanned aerial vehicle
WO2024014615A1 (en) * 2022-07-13 2024-01-18 한국전자기술연구원 Image file/transmission validity verification system and method based on unmanned aerial vehicle

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