KR101737219B1 - radio wave measuring system using drone - Google Patents

radio wave measuring system using drone Download PDF

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Publication number
KR101737219B1
KR101737219B1 KR1020150135447A KR20150135447A KR101737219B1 KR 101737219 B1 KR101737219 B1 KR 101737219B1 KR 1020150135447 A KR1020150135447 A KR 1020150135447A KR 20150135447 A KR20150135447 A KR 20150135447A KR 101737219 B1 KR101737219 B1 KR 101737219B1
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KR
South Korea
Prior art keywords
radio wave
drone
distance
antenna
drones
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KR1020150135447A
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Korean (ko)
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KR20170036924A (en
Inventor
권용기
박성천
윤대환
박정규
곽덕수
서명원
유경호
Original Assignee
대한민국(미래창조과학부 국립전파연구원장)
라온시스템즈 주식회사
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Application filed by 대한민국(미래창조과학부 국립전파연구원장), 라온시스템즈 주식회사 filed Critical 대한민국(미래창조과학부 국립전파연구원장)
Priority to KR1020150135447A priority Critical patent/KR101737219B1/en
Publication of KR20170036924A publication Critical patent/KR20170036924A/en
Application granted granted Critical
Publication of KR101737219B1 publication Critical patent/KR101737219B1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
    • G01R29/08—Measuring electromagnetic field characteristics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • 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
    • B64D47/00—Equipment not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R23/00—Arrangements for measuring frequencies; Arrangements for analysing frequency spectra
    • G01R23/16—Spectrum analysis; Fourier analysis
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R29/00—Arrangements for measuring or indicating electric quantities not covered by groups G01R19/00 - G01R27/00
    • G01R29/08—Measuring electromagnetic field characteristics
    • G01R29/0864—Measuring electromagnetic field characteristics characterised by constructional or functional features
    • G01R29/0892—Details related to signal analysis or treatment; presenting results, e.g. displays; measuring specific signal features other than field strength, e.g. polarisation, field modes, phase, envelope, maximum value
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • B64C2201/024—
    • B64C2201/042—
    • B64C2201/12—
    • B64C2201/146—

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mathematical Physics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A radio wave measuring system using a drone is disclosed. The radio wave measuring system includes an unmanned aerial measurement device; And a terrestrial control device for controlling the unmanned flight of the UAV and measuring the measured data and the distance data measured by the UAV, wherein the unmanned aerial measurement device comprises: A distance measuring device mounted on the drone and measuring a distance to a propagation source; an antenna mounted on the drone and used for reception of a radio wave at a specific position; and a spectrum analyzer mounted on the drone, And a mount control unit mounted on the drones for controlling the spectrum analyzer and for transmitting measured propagation data spectrally analyzed by the spectrum analyzer and distance data provided from the distance measuring instrument to the terrestrial control apparatus .

Description

Technical Field [0001] The present invention relates to a radio wave measuring system using drone,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to radio wave measuring technology, and more particularly, to a radio wave measuring system using a drones.

In the free space region, owing to multidimensional diffraction waves between the transmitting antenna and the receiving antenna, an ellipsoidal shape having the largest radius at the midpoint of both antennas is formed with a very small radius in the vicinity of both antennas, and this region is called a Fresnel region . This Fresnel region is a region where the electric field intensity changes due to the influence of obstacles (that is, diffraction, reflection, etc.), and the propagation at the reception point of the wave is affected not only by direct waves (straight waves) but also by diffraction waves or reflected waves . A region in which an obstacle giving an influence of a reflection or a diffraction wave should not be present in a certain region of an elliptical shape is called a first Fresnel region. Therefore, for reliable radio wave measurement, a line of sight (LOS) must be ensured so that there is no obstacle at least in the first Fresnel area. However, in a city with many mountainous terrain or high buildings, it is necessary to measure the radio wave intensity of the radio station located on the roof of the building or the tower, or to measure the propagation environment according to the altitude, Measurement is difficult. In addition, it has been practically impossible to measure the propagation environment in a mountainous area or a contaminated area where people can not approach a person on foot or in a vehicle, that is, in a place where access in a horizontal field test is difficult.

Accordingly, a problem to be solved by the present invention is to provide a radio wave measurement capable of measuring the radio wave intensity from a radio wave source such as a building located on a building roof or a steel tower using a remote controlled drones and / System.

A radio wave measuring system according to an aspect of the present invention includes: an unmanned aerial measurement device; And a terrestrial control device for controlling the unmanned flight of the UAV and measuring the measured data and the distance data measured by the UAV, wherein the unmanned aerial measurement device comprises: A distance measuring device mounted on the drone and measuring a distance to a propagation source using a laser distance measuring instrument, an antenna mounted on the drone and used for reception of a radio wave at a specific position, and an antenna mounted on the dron, A spectrum analyzer for spectrally analyzing the radio wave; and a controller for controlling the spectrum analyzer mounted on the drone and transmitting the measured propagation data spectrally analyzed by the spectrum analyzer to the terrestrial control apparatus, wherein the antenna receives the radio wave from the propagation source , The drones are connected to the propagation source And a ground control unit for transmitting the distance information provided from the distance measuring unit to the ground control unit so that the ground control unit can be located at a specific distance from the ground control unit. And a radio wave monitoring unit for monitoring the radio waves measured by the spectrum analyzer, wherein the drone comprises a base, a plurality of support arms installed at a predetermined interval with the base at the center, A rotor, a rotating blade installed on the rotor, and means for sensing a position and a position of the dron, wherein a connection frame is provided at a base of the dron, and the connection frame is rotated in three axial directions A three-axis rotary platform having three motors is connected so that the unmanned The row control unit controls the position of the antenna with respect to the propagation source regardless of the attitude change of the dron when the antenna measures the radio wave from the propagation source, Axis rotation platform to control the motors of the three-axis rotation platform.
According to one embodiment, the terrestrial control apparatus further includes a radio wave analyzing unit for performing integrated analysis processing on the radio wave data stored in the local DB and uploaded to the integrated DB in the radio wave monitoring unit.
According to one embodiment, the antenna is selected from two or more non-directional antennas having different specifications and mounted on the drones. The unmanned flight control unit automatically returns to the first operating point when the primary battery low alarm occurs And controls the position of the drones so that the drones vertically land at the current position in the secondary battery low warning.

The radio wave measuring system using the drone according to the present invention can perform radio wave intensity measurement and / or radio wave environment measurement analysis from a radio wave source such as a building located on the roof of a building or a steel tower using a remote controlled dron.

The major functions and effects of the radio wave measuring system according to the present invention are as follows.

* It is possible to measure the radio wave intensity of a radio station located on a building roof or steel tower by using a dron.

* It is possible to measure the propagation environment characteristics by altitude at specific points (coordinates) and analyze the measured results in analysis system.

* The drone can be adjusted automatically by the control PC (ground control unit or wireless flight control unit included in it) with manual adjustment by self-adjusting unit.

* It is easy to set radio wave measurement point or position of drones.

* Use the GPS or laser range finder to move the drones to the indicated position.

* It is possible to perform safe driving function to prevent collision, loss or fall of drone.

* Reliable measurement of radio wave intensity using a spectrum analyzer and an antenna mounted on a drone.

* Measurement data can be transmitted to ground control device in real time.

* Transmitted data can be analyzed using radio wave analysis software.

* Measurement of propagation characteristics for obstacles such as specific buildings located between transmitting and receiving points.

* Analysis of measurement result enables analysis of radio wave shaded area.

* It is possible to measure the propagation environment in places where it is difficult to access in existing horizontal field tests, such as areas that are inaccessible by foot or vehicle (mountains, polluted areas).

1 is a block diagram showing a radio wave measuring system using a drone according to an embodiment of the present invention.
FIG. 2 is a block diagram showing a radio flying-wave measurement device of the radio-wave measuring system shown in FIG. 1. FIG.
Fig. 3 is a flowchart for explaining a method of measuring radio waves using the radio wave measuring system shown in Figs. 1 and 2. Fig.
4 is a diagram illustrating a flow of processing of the radio wave data measured by the UAV.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings and the description thereof are intended to aid those of ordinary skill in the art in understanding the present invention. Accordingly, the drawings and description are not to be construed as limiting the scope of the invention.

FIG. 1 is a block diagram showing a radio wave measuring system using a drone according to an embodiment of the present invention. FIG. 2 is a diagram showing a radio flying-wave measuring apparatus of the radio wave measuring system shown in FIG. 1, 3 is a flow chart for explaining a method of measuring a radio wave using the radio wave measuring system shown in Figs. 1 and 2, and Fig. 4 is a flowchart illustrating an example of processing flow of radio wave data measured by an unmanned aerial FIG.

1 and 2, the radio wave measuring system according to an embodiment of the present invention roughly comprises an airborne unmanned flight measurement device 1, an unmanned aerial measurement device 1, And a ground control device (2) for processing the radio wave measurement data and distance data measured by the unmanned aerial propagation measuring device (1).

The ground control device 2 includes an unmanned flight control unit 21 for controlling the unmanned flight of the above-described unmanned flight electric wave measuring device 1, a radio wave for monitoring the radio wave measured by the unmanned aerial wave measuring device in real time A monitoring unit 22, and a radio wave analyzing unit 23 for analyzing the measured radio wave.

The DUT 10 includes a distance measuring device 11 mounted on the drone 10 for measuring a distance to a radio wave source such as a radio station or an originating antenna, An antenna 12a or 12b mounted on the antenna 10 for use in radio wave reception at a specific position and a spectrum analyzer 13 mounted on the dron 10 for spectrally analyzing a radio wave received through the antenna 12a or 12b A spectrum analyzer 13 for receiving the measured propagation data and the distance data provided by the distance measuring device 11 on the ground, To the monitoring unit (22).

The drone 10 includes a base 101, a plurality of support arms 102 disposed at predetermined intervals with the base 101 as a center, a rotor 103 installed at each of the support arms 102, And a rotating blade 104 installed in the rotor 103. A communication means for communicating with the ground unmanned flight control unit 21 and a sensor (or inertia measurement module or GPS) for sensing the attitude and position of the dron 10 are provided in the dron 10, and a plurality of rotors 103 Are independently controlled, it is possible for the drone 10 to be remotely controlled by the ground unmanned flight control unit 21. [ A three-axis rotating platform 100 is connected to the base 101 of the drone 10 by a connecting frame 105 below the base 101 of the drone 10.

The three-axis rotating platform 100 serves to rotate the antenna 12a or 12b, which will be described in detail below, in three axial directions by three independently driven motors. The drone 10 may be provided with a camera for transmitting an image photographed at the location of the drone 10 to the ground. In this case, the camera is also used in connection with the three-axis rotating platform. It is possible to provide a means for controlling the three-axis rotary platform 100 according to a change in position or attitude of the three-axis rotary platform and the drone 10 and / or the antenna 12a or 12b mounted thereon Can stably control the attitude and position of the antenna 12a or 12b so that the antenna 12a or 12b can reliably receive the radio wave at a specific position in the air regardless of the position or attitude of the drone 10 Help. It is possible to measure the propagation environment according to the altitude by using the unmanned flying drones 10 as an element of the unmanned aerial measurement device 1, Measurement of radio wave intensity is possible. The application of the three-axis rotary platform 100 also allows the antenna 12a or 12b to be moved intentionally when the drones are changed to various postures such as turning, hovering, rising, falling or tilting. Allowing you to maintain or change to one location.

Here, it is preferable that the dron 10 satisfies the specifications of the total take off weight 11 kg or more, payload 5 kg or more, operating distance radius 600 m or more, flight time 15 minutes or more, battery 22.2 V / 22000 mAh 5 set. In addition, the drones 10 are arranged to automatically return to the first operating point when the primary battery low (low remaining) warning is issued, and to vertically land at the current position and transmit the altitude, Pre-programmed is preferred.

The antenna 12a or 12b is mounted on the drone 10 by a three-axis rotating platform, and measures the radio wave intensity at a specific position on the drone 10. As described above, the three-axis rotating platform and the means for controlling the three-axis rotating platform allow the antenna 12a or 12b to stably maintain its posture and position in spite of the position or attitude change of the drone 10 It is possible to reliably receive the radio wave intensity at a specific position in the air. One of the first antenna 12a and the second antenna 12b is selected and used on the drones 10a and 12b. Both the first antenna 12a and the second antenna 12b are of an omni-directional type and are provided with a minimum weight considering the payload. The first antenna 12a has a frequency range of 300 to 8000 MHz, an antenna gain of 3.5 dBi (average), and a weight of 54 g. The second antenna 12b has a frequency range of 800 to 6000 MHz, a VSWR < 2.21, and a weight of 75 g. In this embodiment, the first antenna 12a uses the model name OmniLOG 30800 manufactured by AARRONIA, and the second antenna 12b uses the model name AU-800-6000 manufactured by Ocane.

The spectrum analyzer 13 is installed in the dron 10 for the purpose of radio wave intensity measurement / analysis of a radio station, shadow area radio wave analysis, radio wave environment measurement / characteristic study according to altitude, Receives the radio wave through the antenna 12a or 12b, and spectrum-analyzes the received radio wave to send it to the loading control unit 14 mounted together with the drone 10. The spectrum analyzer 13 is used that satisfies the specifications of Table 1 below.

Standard number Item Specifications One Frequency range 9KHz to 6.2GHz 2
Noise level
(DANL) 2 MHz to 5 MHz:
-145 dBm / Hz
> 5 MHz to 1.0 GHz:
-160 dBm / Hz
> 1.0 MHz to 2.0 GHz:
-158 dBm / Hz
> 2.0 MHz to 4.0 GHz:
-155 dBm / Hz
> 4.0 MHz to 6.0 GHz:
-150 dBm / Hz 3 IF Bandwidth  40 MHz 4 weight  590 g 5 interface  USB 3.0 6 power  Power supply and control via USB 3.0

In this embodiment, the spectrum analyzer uses the model name RSA306 manufactured by Tektronix.

The distance measuring device 11 uses a laser distance meter and measures the distance from the propagation source by using a laser mounted on the drone 10 so that the distance information is set to a distance To the mounting control unit (14) mounted together with the control unit (10). The distance meter (11) uses the GLM Model 100 C laser distance meter manufactured by Bosch, which can measure a distance of more than 80 meters with a weight of 140 g.

The mounting control unit 14 controls the spectrum analyzer 13 and transmits the measured radio wave measurement data and the distance data to the ground radio wave monitoring unit 22. [ The mounting control unit 14 preferably has a CPU of IKE-core i5-3371 (1.8GHz) or higher, a memory of DDR-3.4GB or higher, an HDD of SSD 128GB or higher, a USB 3.0 input / output terminal, a WINDOW 7 or higher OS, It is connected to the ground control device or radio control software provided on the control PC on the ground through WI-FI to control the measuring instrument and transmit measurement data in real time.

The ground control device 20 is capable of wirelessly communicating with the mounting control unit 14 of the unmanned aerial vehicle measurement device 10 via the WI-FI and automatically transmits the flight position of the drones 10, An unmanned flight control unit 21 for remotely controlling the flight of the drone 10 by means of a drone remote control software that performs a safe operation function for adjusting the collision, The radio wave measurement results obtained in real time by the radio wave measurement monitoring software are transmitted to the integrated DB of the radio wave analyzing unit 23 while being stored in the local DB in response to the distance data from the control unit 14 in real time And analyzes the radio wave DB uploaded to the radio wave analyzing unit 23 through radio wave analysis software.

Table 2 below summarizes the functions of the main software used in the radio wave measuring system according to the embodiment of the present invention.

division function Radio wave measurement
software * Perform measurement functions such as measurement of the propagation environment of the position movement according to the purpose of measurement, measurement of propagation environment according to the altitude.
* Connected to Spectrum Analyzer to perform Spectrum Analyzer control function,
* Receive measurement data through spectrum analyzer control.
* Receive location information and distance information confirmation data received from GPS, distance meter, etc.
* Runs on a PC mounted on the drone and connects with radio measurement monitoring software via WI-FI.
* Measurement data transmission in real time by radio wave monitoring S / W.
* Radio wave measurement monitoring S / W to transmit location information and distance information data in real time, Drone Remote Control
software
(Unmanned flight control software) * Ability to move drones to a specific point or location.
* The ability to protect the dron so that it does not deviate more than a certain distance (eg 500m) from the flight start point.
* A function that separates a certain distance (eg 3m) from an external object or building.
* When the power of drones is low battery, it sends a warning message to the ground control device and automatically returns to the first operating point or landing at the current position vertically. Radio wave monitoring
software * It is executed on the control PC on the ground, and connection of the drones' radio measurement S / W and WI-FI.
* Receive measurement data in real time and monitor measurement result.
* Automatic saving of measurement data Radio wave analysis
software Measurement of Radio Propagation Strength and Analysis of Propagation Environment Characteristics according to Elevation.
Analysis of propagation shaded areas by analyzing propagation characteristics for obstacles such as specific buildings located between transmission and reception points.

Referring to FIG. 3, a radio wave measuring system according to an embodiment of the present invention includes a step (s1) of starting a dragon flight, a step of moving the dragon drone to a position near a propagation object to secure the LOS, A securing / positioning step (s2), a step (s3) of measuring a radio wave at that point, and a step (s4) of transmitting the radio wave measured at that point to the ground using WI-FI communication. The radio wave is continuously measured until the measurement of the radio wave at the corresponding point is completed.

Referring to FIG. 4, the radio wave data including the radio waves measured at specific positions (coordinates) of the air using the drone are processed in the following flow.

Measurement data of the radio wave measurement software is transmitted to the remote monitoring software and monitored in real time. The monitoring software also stores the measurement propagation data in a local DB. The information stored in the local DB is stored in the external hard disk through the DB transmission software. The DB information stored in the external hard disk is uploaded to the integrated DB of the radio wave analysis unit. The radio wave analysis software executed by the radio wave analysis unit compares and analyzes the data information uploaded to the integrated DB.

1: Unmanned aerial measurement device 2: Ground control device
10: Drone 11: Distance meter
12a / 12b: antenna 13: spectrum analyzer
14: Mounting control unit 21: Unmanned flight control unit
22: radio wave monitoring unit 23: radio wave analyzing unit

Claims (5)

Unmanned aerial measurement device; And
And a ground control device for controlling the unmanned flight of the UAV and processing the measured radio wave data and distance data measured by the UAV,
The unmanned aerial vehicle measurement device includes a dragon for flying unmanned aerial, a distance measuring device mounted on the dragon for measuring a distance to a propagation source by a laser distance meter, an antenna mounted on the dragon for use in radio wave reception at a specific position, A spectrum analyzer mounted on the drone for spectrally analyzing a radio wave received through the antenna, and a controller for controlling the spectrum analyzer mounted on the drone and transmitting measured spectrum data analyzed by the spectrum analyzer to the ground control device And a mounting control unit for transmitting the distance information provided from the distance measuring device to the terrestrial control device so that the drones can be located a certain distance from the propagation source when the antenna receives the radio wave from the propagation source In addition,
The ground control device includes an unmanned flight control unit for controlling the unmanned flight of the drones, and a radio monitoring unit for monitoring the radio waves measured through the antenna and the spectrum analyzer,
The dron includes a base, a plurality of support arms installed at predetermined intervals with the base at the center, a rotor installed on each of the support arms, a rotating blade installed on the rotor, Wherein a connection frame is provided on a base of the drone, and a three-axis rotary platform having three motors is connected to the connection frame so as to rotate the antenna in three axial directions,
Wherein the unmanned flight control unit stops the dron by positioning the dron at a specific distance when the antenna measures the radio wave from the propagation source, Axis rotation platform so as to maintain the three-axis rotating platform. delete The radio wave measuring system according to claim 1, wherein the terrestrial control apparatus further comprises a radio wave analyzing section for performing integrated analysis processing on radio wave data stored in a local DB and uploaded to the integrated database in the radio wave monitoring section. delete [3] The antenna of claim 1, wherein one of the two or more non-directional antennas having different specifications is selected and mounted on the drones, and the unmanned flight control unit automatically returns to the first operating point And controls the position of the drones so that the drones vertically land at the current position when the secondary battery low warning is detected.
KR1020150135447A 2015-09-24 2015-09-24 radio wave measuring system using drone KR101737219B1 (en)

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Publication number Priority date Publication date Assignee Title
CN207000827U (en) * 2017-07-25 2018-02-13 深圳市大疆创新科技有限公司 Aircraft, earth station and RF detection system
KR101912120B1 (en) * 2017-10-27 2018-10-26 한화시스템(주) Dron equipped target beacon for air target simulation and method thereof
KR102132895B1 (en) * 2018-03-27 2020-07-10 한화시스템(주) Air target simulation method
CN108445807A (en) * 2018-03-30 2018-08-24 深圳飞马机器人科技有限公司 Unmanned machine vibration and impact data acquisition and analysis system and method
KR20200143598A (en) * 2019-06-14 2020-12-24 삼성전자주식회사 Unmanned aerial vehicle with antenna module
KR102428516B1 (en) * 2022-03-17 2022-08-04 우리항행기술(주) A system and method for providing radio wave quality at a long distance using radio signals received from an aircraft flying at a short distance

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