KR101700536B1 - Apparatus and method for maintenance of unmanned aerial vehicle - Google Patents
Apparatus and method for maintenance of unmanned aerial vehicle Download PDFInfo
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- KR101700536B1 KR101700536B1 KR1020150160966A KR20150160966A KR101700536B1 KR 101700536 B1 KR101700536 B1 KR 101700536B1 KR 1020150160966 A KR1020150160966 A KR 1020150160966A KR 20150160966 A KR20150160966 A KR 20150160966A KR 101700536 B1 KR101700536 B1 KR 101700536B1
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- 238000000034 method Methods 0.000 title claims description 30
- 238000012423 maintenance Methods 0.000 title description 2
- 238000005259 measurement Methods 0.000 claims abstract description 53
- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000007689 inspection Methods 0.000 description 23
- 230000033001 locomotion Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- 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; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- Aviation & Aerospace Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
There is provided an apparatus for inspecting an unmanned airplane, which can detect whether the unmanned airplane or the external device related to the unmanned airplane detects the normal operation of the unmanned airplane. The apparatus for inspecting an unmanned airplane includes a sensor unit for detecting the running of the unmanned airplane through a traveling track, a control unit for selecting measurement data for confirming whether the unmanned airplane is normally operated based on a first section in which the running of the unmanned airplane is sensed, And a communication unit for transmitting valid attitude data corresponding to the measurement data to at least one of the unmanned airplane and an external device associated with the unmanned airplane.
Description
More particularly, the present invention relates to an apparatus and method for determining whether a sensor that controls a steered angle of an unmanned airplane operates in a normal operating range.
Unmanned aerial vehicles (UAVs) are not dangerous for people to carry out directly or perform themselves, such as flying by remote control or autonomous flight, Represents an airplane performing a mission.
Although there is a feature that a UAV can perform flight in various spaces including an urban environment, if a malfunction or a crash is caused due to a sensor error or the like, it may cause a serious safety accident. Therefore, It is a necessary process before flight to keep up.
Conventionally, a user of a UAV usually controls a UAV to directly change its posture, or a large-sized device such as a crane is used to control a given posture to determine whether the internal sensor of the UAV operates correctly Respectively.
However, since the spread of personal unmanned airplanes such as drone is increasing, there is a growing need for an apparatus and a method for efficiently checking the unmanned airplane using the limited space and cost.
According to one aspect of the present invention, there is provided an apparatus for inspecting an unmanned airplane, wherein an external device associated with the unmanned airplane or the unmanned airplane detects the running of the unmanned airplane to determine whether the unmanned airplane is operating normally. The apparatus for inspecting an unmanned airplane includes a sensor unit for detecting the running of the unmanned airplane through a traveling track, a control unit for selecting measurement data for confirming whether the unmanned airplane is normally operated based on a first section in which the running of the unmanned airplane is sensed, And a communication unit for transmitting valid attitude data corresponding to the measurement data to at least one of the unmanned airplane and an external device associated with the unmanned airplane.
According to an embodiment, the controller may select at least one of a roll angle, a pitch angle, and a yaw angle for checking whether the unmanned aerial vehicle is operating normally based on the first section as the measurement data.
According to another embodiment, when the sensor unit detects that the section in which the unmanned airplane travels is changed to the second section, the controller selects new measurement data based on the second section, It is possible to transmit the effective attitude data corresponding to the new measurement data to at least one of the unmanned airplane and an external device associated with the unmanned airplane.
According to another aspect of the present invention, there is provided an apparatus for inspecting an unmanned airplane, which detects the running of the unmanned airplane and receives measurement data associated with the unmanned airplane to determine whether the unmanned airplane operates normally. The apparatus for inspecting an unmanned airplane includes a sensor unit for detecting the running of the unmanned airplane through a traveling track, a measuring unit for measuring data corresponding to a first section in which the running of the unmanned airplane is sensed, And a determination unit for determining whether the unmanned airplane operates normally by comparing the measured data and the effective attitude data corresponding to the measured data.
According to one embodiment, when the determination unit determines whether the unmanned airplane is normally operated, the communication unit transmits a control signal corresponding to a result of the determination to at least one of the unmanned airplane and an external device associated with the unmanned airplane .
According to another embodiment of the present invention, the apparatus for inspecting an unmanned airplane may further include a display unit for displaying a graphic object corresponding to a result of the determination, when the determination unit determines whether the unmanned airplane operates normally.
According to another aspect of the present invention, there is provided an unmanned airplane in which the measurement data running on a pre-installed traveling track is compared with valid posture data to determine whether the vehicle is operating normally. Wherein the unmanned airplane includes a sensor unit for sensing measurement data corresponding to an attitude of the unmanned airplane, and a control unit for comparing the measured data with effective attitude data determined according to an interval in which the unmanned airplane travels in the traveling track, And a judgment unit for judging whether or not the apparatus is operating.
According to an embodiment, the unmanned airplane may further include a communication unit for receiving updated valid posture data from an external device when a section in which the unmanned airplane travels within the travel track is changed.
According to another embodiment, the sensor unit may sense at least one of a roll angle, a pitch angle and a yaw angle corresponding to the attitude of the unmanned airplane.
According to another embodiment of the present invention, the unmanned airplane further includes a database for storing the valid attitude data corresponding to a section in which the unmanned airplane travels in the traveling track, So that it is possible to determine a section in which the unmanned airplane travels.
According to another, a method for automated checking of the unmanned airplane is provided. The method includes the steps of: acquiring selected measurement data according to the location of the UAV; comparing the measured data with pre-stored valid posture data corresponding to the measurement data; And a step of judging whether or not it is possible.
According to one embodiment, acquiring the measurement data may include acquiring the measurement data corresponding to the position in the running track formed according to a predetermined condition. More specifically, the step of acquiring the measurement data may comprise acquiring the measurement data corresponding to a position in the running track, the unmanned airplane being connected to a runway for flight.
According to another embodiment, the step of acquiring the measurement data may include acquiring at least one of a roll angle, a pitch angle and a yaw angle corresponding to the attitude of the unmanned aerial vehicle.
FIG. 1 is an exemplary diagram showing a piloting plane of an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an operation of an unmanned aerial vehicle inspection apparatus according to an exemplary embodiment of the present invention.
FIGS. 3A and 3B are diagrams for explaining the operation of the unmanned aerial vehicle inspection apparatus according to another embodiment of the present invention.
FIG. 4 is a diagram illustrating an operation of an unmanned aerial vehicle inspection apparatus according to another embodiment of the present invention.
FIG. 5 is a flowchart illustrating a method for automatically checking an unmanned airplane according to an embodiment of the present invention.
FIG. 6 is a flowchart illustrating a method for automatically checking an unmanned airplane according to another embodiment of the present invention.
7 shows a block diagram of an unmanned aerial vehicle according to one embodiment.
Specific structural or functional descriptions of embodiments are set forth for illustration purposes only and may be embodied with various changes and modifications. Accordingly, the embodiments are not intended to be limited to the particular forms disclosed, and the scope of the present disclosure includes changes, equivalents, or alternatives included in the technical idea.
The terms first or second, etc. may be used to describe various elements, but such terms should be interpreted solely for the purpose of distinguishing one element from another. For example, 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.
It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected or connected to the other element, although other elements may be present in between.
The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises ", or" having ", and the like, are used to specify one or more of the described features, numbers, steps, operations, elements, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.
Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.
FIG. 1 is an exemplary diagram showing a piloting plane of an unmanned aerial vehicle according to an embodiment of the present invention. Referring to FIG. 1, there are shown three
In addition, the
In addition, the
Three
The
On the other hand, in the case of using the embodiment according to the present invention, while the UAV 110 is traveling on a taxiway connected to the runway, the measurement data measured by the
FIG. 2 is a diagram illustrating an operation of an unmanned aerial vehicle inspection apparatus according to an exemplary embodiment of the present invention. More specifically, FIG. 2 shows a side view of the unmanned airplane and the traveling track running on the traveling track equipped with the unmanned aerial vehicle inspection device. Referring to FIG. 2, a
Illustratively, FIG. 2 shows an embodiment in which one unmanned aerial
In this embodiment, it is assumed that the
In addition, the
When the
The
When the
According to the embodiment of the present invention, the
FIGS. 3A and 3B are diagrams for explaining the operation of the unmanned aerial vehicle inspection apparatus according to another embodiment of the present invention. More specifically, FIGS. 3A and 3B show a front view of a unmanned airplane and a traveling track running on a traveling track equipped with an unmanned aerial vehicle inspection device. Referring to FIG. 3A, the
In addition, the first
In the case of FIG. 3A, the
Referring to Fig. 3B, the running track has an angle of beta 1 about the horizontal plane. When the
FIG. 4 is a diagram illustrating an operation of an unmanned aerial vehicle inspection apparatus according to another embodiment of the present invention. More specifically, FIG. 4 shows a top view of a unmanned airplane and a traveling track running on a traveling track equipped with an unmanned aerial vehicle inspection device. In the present embodiment, it is assumed that the
In one embodiment, the
When the
However, the second and third sections may be defined as left and right rotation sections, and the yaw angle values corresponding to the respective sections may be defined as γ 1 in the second section and γ 2 in the third section. In this case, the yaw angle to be actually measured when the
A detailed description of the process of determining whether the
Each of Figs. 2, 3B and 4 discloses a configuration in which any one of a pitch angle, a roll angle and a yaw angle is determined as measurement data by using one of the running tracks. It should be noted, however, that the above description is merely an example of description to help understand the concept of the present invention. At least two sensing data are simultaneously tested using one traveling track, and the normal operation of the unmanned airplane It will be obvious to those skilled in the art.
FIG. 5 is a flowchart illustrating a method for automatically checking an unmanned airplane according to an embodiment of the present invention. The
Step 510 is a step in which the unmanned airplane checking apparatus detects the running of the unmanned airplane through the traveling track. In one embodiment, the traveling track may be a traveling track connected to an runway for flying the unmanned airplane. At
In one embodiment, in
Step 520 is a step of selecting measurement data based on the period in which the traveling is sensed. As described above, the running track installed for checking the unmanned airplane may have predetermined measurement data that can be checked according to each section. In
Step 530 is a step of transmitting the valid attitude data corresponding to the measurement data to the unmanned airplane or the external device. More specifically, the external device may be an external device for controlling or testing the unmanned airplane, and may be implemented by various types of electronic devices such as a notebook computer, a smart phone, a wearable device, a smart pad, etc. including a communication interface. The valid posture data may be an actual measured value corresponding to the section, and the unmanned airplane or the external device can determine whether the unmanned airplane is operating normally by using the transmitted effective attitude data.
In
The unmanned airplane can determine whether the internal sensor operates normally by comparing the measured data with the transmitted effective attitude data. More specifically, the at least one sensor can be used to measure at least one of a roll angle, a pitch angle, and a yaw angle corresponding to the running posture. Illustratively, the internal sensor may be an inertial measurement unit (IMU) included in an unmanned aerial vehicle. The inertial measurement device is a multi-sensor including an accelerometer capable of measuring the mobile inertia, a gyro system capable of measuring the rotational inertia, and a geomagnetic system capable of measuring the azimuth angle.
In addition, the
The automated
FIG. 6 is a flowchart illustrating a method for automatically checking an unmanned airplane according to another embodiment of the present invention. 6 is a flowchart illustrating a method for automatically checking an
The description of
In another embodiment, in
Step 630 is a step of determining whether the UAV is operating normally by comparing the received specific data and the effective attitude data corresponding to the measured data. The effective attitude data is a value determined according to the traveling track, and represents a value measured when the internal sensor of the UAV is operating ideally.
In addition, in
7 shows a block diagram of an unmanned aerial vehicle according to one embodiment. Referring to FIG. 7, the
The
The
In another embodiment, the
The
The
The embodiments described above may be implemented in hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, such as an array, a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.
The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.
The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.
Although the embodiments have been described with reference to the drawings, various technical modifications and variations may be applied to those skilled in the art. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.
Claims (14)
A controller for selecting at least one of a roll angle, a pitch angle, and a yaw angle for checking whether the unmanned airplane is in a normal operation state as measurement data based on a first section in which the running of the unmanned airplane is detected; And
And a communication unit for transmitting the valid attitude data corresponding to the measurement data to at least one of the unmanned airplane and the external device associated with the unmanned airplane
Lt; / RTI >
Wherein the unmanned airplane or the external device associated with the unmanned airplane determines whether the unmanned airplane is operating normally by comparing the measured data and the received effective attitude data.
Wherein the control unit selects new measurement data based on the second section when the sensor unit detects that the section in which the unmanned airplane travels is changed to the second section, And transmits the attitude data to at least one of the unmanned airplane and an external device associated with the unmanned airplane.
Wherein the measurement data corresponding to the first section in which the running of the unmanned airplane is sensed, the measurement data including at least one of a roll angle, a pitch angle and a yaw angle, is transmitted to the unmanned airplane and / A communication unit that receives at least one of the data; And
A determination unit for comparing the measured data and the effective attitude data corresponding to the measured data to determine whether the unmanned airplane is operating normally,
And a control unit.
Wherein the communication unit transmits a control signal corresponding to a result of the determination to at least one of the unmanned airplane and an external device associated with the unmanned airplane when the determination unit determines that the unmanned airplane is operating normally.
A display unit for displaying a graphical object corresponding to a result of the determination, when the determination unit determines that the unmanned airplane is operating normally;
Further comprising:
Measuring data corresponding to the attitude of the unmanned airplane, wherein the measurement data includes at least one of a roll angle, a pitch angle and a yaw angle;
A database for storing valid posture data corresponding to a section in which the unmanned airplane travels in the traveling track; And
Determining a normal operation of the UAV by comparing the measured data with effective posture data determined according to a section in which the UAV is running in the traveling track;
Lt; / RTI >
Wherein the valid posture data is a value determined along a running track, and indicates a value measured when the sensor unit normally operates.
A communication unit for receiving the updated valid posture data from the external device when the section in which the unmanned airplane travels within the traveling track is changed,
And further comprising:
Wherein the sensor unit senses the position of the unmanned airplane in the traveling track and determines a section in which the unmanned airplane travels.
Comparing the measured posture data and pre-stored posture data corresponding to a position on the traveling track; And
Determining whether the unmanned airplane is operating normally according to a result of the comparison;
A method for inspecting an unmanned airplane comprising:
Wherein the acquiring of the measurement data comprises acquiring the measurement data corresponding to a position in the travel track connected to a runway for flight of the unmanned airplane.
Wherein the acquiring of the measurement data includes acquiring at least one of a roll angle, a pitch angle, and a yaw angle corresponding to the attitude of the unmanned airplane.
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Cited By (2)
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---|---|---|---|---|
KR20210053548A (en) * | 2019-11-04 | 2021-05-12 | 주식회사 엘지유플러스 | Method and appratus for determining sensor abnormality of drone |
KR20220042703A (en) * | 2020-09-28 | 2022-04-05 | 국방과학연구소 | Method and apparatus for derivative of noise source in aerial vehicle |
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2015
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