KR101798996B1

KR101798996B1 - Method for calculating relative position of the vertical take-off and landing UAV and landing guide system for the UAV using the method

Info

Publication number: KR101798996B1
Application number: KR1020150159204A
Authority: KR
Inventors: 김성수; 이길호
Original assignee: 용비에이티(주)
Priority date: 2015-11-12
Filing date: 2015-11-12
Publication date: 2017-11-21
Also published as: KR20170056098A

Abstract

[0001] The present invention relates to a method for accurately calculating the relative position of a vertical take-off and landing unmanned aerial vehicle (UAV), and more particularly, A relative position precise calculation method of a vertical take-off and landing unmanned aerial vehicle (UAV) that accurately calculates a relative position of a UAV from a landing point through a signal and guides the UAV to land at a landing point through the UAV, and a UAV landing guidance system .

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of calculating a relative position of a vertical take-off and landing unmanned aerial vehicle (UAV)

Generally, an unmanned aerial vehicle (UAV) refers to a flight capable of remote control by remote from a remote location without piloting the pilot, It is difficult to directly carry out military duties such as reconnaissance, bombardment, cargo transportation, forest fire monitoring, radioactive surveillance, etc., or to perform dangerous duties to carry out directly. However, recently, logistics (courier service) It is being developed so that it can be used in various private fields such as special shooting of broadcasting and movies, observation of traffic situation, and the like.

It is most important that the UAV is safely landed at the desired point after the mission is completed. Because the pilot is not on board, it is necessary to control the landing precisely so as not to fall in the course of landing on the ground or landing platform.

Conventionally, the landing control method using GPS and the landing control method using camera are mainly used as a method for controlling the landing of the UAV. In the prior art, the landing control method using the GPS is a method of controlling the UAV Although it is advantageous to configure the control system at a relatively low cost by controlling the UAV to land at the target position by comparing the coordinates of the target position, that is, the landing point, it is difficult to precisely measure the target position by the GPS error There are disadvantages.

Next, the landing control method using the camera recognizes the image pattern of the landing pad installed at the landing point by using the image captured by the camera provided in the UAV, calculates the relative position of the landing pad using the image pattern, The landing position can be recognized more precisely than the landing control method using the GPS sensor. However, due to the limitation of the weather due to the use of the camera image, the view of the camera is limited, There is a problem that it is necessary to have a device for processing the data.

1. Korean Registered Patent No. 10-0879799 (issued on Jan. 21, 2009) 2. Korean Registered Patent No. 10-1494654 (issued Feb. 12, 2015)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the conventional art as described above, and it is an object of the present invention to provide a method and apparatus for accurately calculating a relative position of an unmanned airplane from a landing point by using a beacon, And to guide the unmanned airplane to land at a landing point through the unmanned aircraft landing guidance system, and to provide an unmanned landing guidance system using the same.

According to an aspect of the present invention,

An unmanned airplane approaching step in which the unmanned airplane approaches a target point using a signal received through a first GPS sensor provided in the unmanned airplane; A beacon signal receiving step of receiving signals generated from a plurality of fixed beacons installed at a target point through a movable beacon provided in a UAV; And a relative position calculation step of calculating the relative position of the UAV from the target point by combining the beacon signals received via the movable beacon using a control unit provided in the UAV.

At this time, in the beacon signal receiving step, the signal generated from the fixed beacon is transmitted to the beacon center by using the LLA coordinates of the unmanned airplane centered on each beacon, the received signal strength index (RSSI) for measuring the distance to the target point, ID < / RTI >

The apparatus further includes a reliability verification step of comparing the relative position of the UAV calculated at the relative position calculation step and the coordinates of the UAV acquired through the first GPS sensor to determine the reliability of the calculated relative position.

The reliability verification step may include a fixed beacon self-diagnosis step of self-diagnosing status information including a real-time position of each fixed beacon through communication between fixed beacons.

At this time, a part of the fixed beacons are constituted by keypoint beacons including a second GPS sensor, and the fixed beacon self-diagnosis step uses the position signals from the second GPS sensor of the keypoint beacons and the distance from the keypoint beacons, And estimating an LLA coordinate.

In the meantime, according to the present invention, there is provided a vertical landing /

A first GPS sensor provided in a UAV; a plurality of fixed beacons installed at a predetermined distance from each other around a target point to transmit a position signal to an unmanned airplane; And a controller for controlling the flight of the unmanned airplane to a target point by combining the position signals received through the movable beacon and the position information of the unmanned airplane received through the first GPS sensor, .

At this time, the fixed beacon installed at the target point is any one of a low-power Bluetooth beacon (BLE Beacon) or a range beacon (Range Beacon).

In addition, some of the fixed beacons may be keypoint beacons including a second GPS sensor.

The fixed beacon is characterized in that connection lines of neighboring beacons are formed to be polygonal.

The landing pad may further include a landing pad of a polygonal shape installed at a landing target point of the unmanned airplane, wherein the fixed beacon is installed at a vertex of the landing pad.

In this case, the fixed beacon is configured to be able to self-diagnose its installed position through communication with each other.

Here, the signal transmitted by the communication between the fixed beacons includes information on the pad shape number, the pad size, the pad rotation angle, and the position number.

The control unit may include a calculation module for calculating a relative position of the unmanned airplane based on the target point using the position signals received through the mobile beacon, And a flight control module for controlling the flight of the UAV using the relative position information of the UAV and the GPS information calculated by the calculation module.

According to the present invention, it is possible to accurately calculate the relative position of the UAV from the landing target point by a simple configuration, thereby minimizing the error that may occur in the landing control of the UAV. Accordingly, Can be remarkably reduced.

In addition, according to the present invention, since a plurality of beacon assemblies installed at a landing target point enables the unmanned airplane to land at a target point accurately, it is possible to smoothly perform a mission such as logistics (courier) using an unmanned airplane Respectively.

Further, according to the present invention, the relative position of the UAV from the target point can be calculated by itself in the UAV, thereby controlling the flight, thereby greatly simplifying the configuration of the UAV for landing control of the UAV , It has the effect of drastically reducing the cost of constructing the landing guidance system of the unmanned airplane due to the simple configuration.

According to the present invention, a landing pad having a polygonal shape is provided at a landing target point, a fixed beacon is provided at each vertex of the landing pad, and the positional deviation occurs due to communication between fixed beacons, And has an effect of being able to find a fixed beacon by itself.

Brief Description of the Drawings Fig. 1 is a view schematically showing the configuration of a landing guidance system using a relative position accuracy calculation method of a vertical take-off and landing unmanned aerial vehicle according to the present invention.
Figure 2 shows another embodiment of the system shown in Figure 1;
Figures 3 (a) and 3 (b) illustrate the information conveyed by various embodiments of landing pads and communication between fixed beacons of the present invention shown in Figure 2;
FIG. 4 is a flowchart illustrating a method of calculating relative position accuracy of a vertical take-off and landing unmanned aerial vehicle according to the present invention.
5 is a conceptual diagram schematically showing a configuration of a landing guidance system according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

FIG. 1 is a view schematically showing a configuration of a landing guidance system using a relative position precise calculation method of a vertical take-off and landing unmanned aerial vehicle according to the present invention, FIG. 2 is a view showing another embodiment of the system shown in FIG. 1, (a) and (b) are views showing information transmitted by various embodiments of the landing pad and the communication between the fixed beacons of the present invention shown in Fig. 2, and Fig. 4 is a view 5 is a conceptual diagram schematically showing a configuration of a landing guidance system according to the present invention.

The present invention accurately calculates a relative position of the UAV 100 from a landing point through signals transmitted from a plurality of near-field position sensors (Beacons) installed at landing points of a UAV 100 that takes off and land vertically, The present invention relates to a method for accurately calculating the relative position of a vertical take-off and landing unmanned aerial vehicle (UAV), which guides the UAV 100 to land at a landing point, and a method for calculating the relative position accuracy of the UAV As shown in FIG. 4, includes an unmanned airplane approaching step (S10), a beacon signal receiving step (S20), and a relative position calculating step (S30).

More specifically, the step of accessing the unmanned airplane (S 10) relates to a step of approaching a target unmanned airplane 100 (hereinafter referred to as an 'unmanned airplane 100') toward a target point for landing. The approach of the UAV 100 is performed through a signal received through the first GPS sensor 110 provided in the UAV 100.

That is, the current position is confirmed through the first GPS sensor 110 provided in the UAV 100 and approaches the coordinates set as the target point under the control of the flight control module 136 to be described later.

Next, the beacon signal receiving step (S20) includes receiving signals generated from a plurality of fixed beacons 200 fixedly spaced from each other on the ground around the target point by the UAV 100 A beacon 120 for receiving a signal generated from the fixed beacons 200 is provided in the UAV 100.

That is, a beacon, which means a short-range wireless communication technology using Bluetooth generally, can be wirelessly communicated in a range of about 50 to 100 m. Therefore, when the UAV 100 approaches within a range of 100 m from the landing target, The fixed beacon 200 senses the mobile beacon 120 of the UAV 100 and broadcasts the signal to the mobile beacon 120. The mobile beacon 120 receives the signal and notifies that the UAV 100 has arrived near the target point .

The signal generated from the fixed beacon 200 includes an LLA coordinate (Latitude Longitude Altitude coordinate), a Received Signal Strength Indication (RSSI), and an ID. The LLA coordinates are transmitted to the fixed beacon 200 Hardness, and altitude, and the received signal strength index is used to confirm the distance from the fixed beacon 200 to the UAV 100. The UAV 100 may be a UAV The distance from the UAV 100 to the target point can be confirmed by transmitting a signal having a stronger intensity as the distance from the target point 100 approaches the target point.

Next, the ID is given to the identified UAV 100 when identifying the UAV 100 approaching the target point in the fixed beacon 200, so that the identified UAV 100 is displayed on an object having other movable beacons Or to distinguish it from other UAVs.

Meanwhile, a low-power Bluetooth low energy beacon (BLE beacon) or a range beacon may be used as the fixed beacon 200 installed on the ground around the target point, First, since the BLE beacon has low power consumption, it has a long useful life, has a much longer usable distance than NFC (proximity wireless communication), and has no limit on the number of simultaneous connections. .

In addition, although the range beacon is higher than the BLE beacon, the range beacon is stronger and more accurate than the BLE beacon. When the range beacon is used as the fixed beacon 200, the mobile beacon It is possible to reduce the error of the signal transmitted to the mobile beacon 120 and to control the flight of the UAV 100 more precisely.

At this time, 'PulsON 410' or 'PulsON 440' of TIME DOMAIN can be used as the range beacon.

Next, the relative position calculation step S30 combines the beacon signals from the ground received via the mobile beacon 120, that is, the LLA coordinates and RSSI signals periodically transmitted from the plurality of fixed beacons 200, The relative position calculation of the UAV 100 is performed through the operation module 132 of the control unit 130 provided in the UAV 100 .

More specifically, when the target point to be landed by the UAV 100 is the center of the landing, the distance and orientation between the fixed beacons 200 from the target point are determined, so that the value is known and transmitted from the fixed beacon 200 The relative position of the UAV 100 can be calculated by combining the coordinates of the LNA and the RSSI signal of the UAV 100 with the fixed beacon 200 as a center.

At this time, when only one fixed beacon 200 on the ground is installed, the relative position of the UAV 100 around the target point may be inaccurate due to the coordinate error of the target point or the sensor data error of the fixed beacon 200 Therefore, in order to more accurately calculate the relative position of the UAV 100, a plurality of fixed beacons 200, preferably three or more fixed beacons 200, are provided on the ground so that signals transmitted from each fixed beacon 200 The relative position error of the UAV 100 can be minimized.

When three or more fixed beacons 200 are installed on a straight line, the latitude or longitude coordinates transmitted from the fixed beacon 200 are the same according to the position of the UAV 100, As shown in FIGS. 1 and 2, the fixed beacons 200 installed on the ground may have three or more fixed types of beacons 200 arranged on a straight line so that the connection lines of the neighboring fixed beacons 200 form a polygonal shape, It is preferable that the beacon 200 is not installed.

2, a landing pad 300 having a polygonal shape is installed at the landing target point of the UAV 100, and a fixed beacon 200 is installed at each vertex of the landing pad 300 Or the like.

That is, as shown in FIG. 3A, a landing pad 300 having a polygonal shape such as a square, a pentagon, or a hexagon is installed at a landing target point of the UAV, The fixed beacon 200 can be self-diagnosed through the communication between the fixed beacons 200 by using the shape information of the landing pad 300. FIG.

Meanwhile, the method for calculating relative position accuracy of a vertical take-off and landing unmanned aerial vehicle according to the present invention may further include a reliability verification step (S40). The reliability verification step (S40) And verifying the reliability of the relative position of the UAV 100 from the point.

That is, the relative position of the UAV 100 calculated in the relative position calculation step S30 using the verification module 134 of the control unit 130 to be described later is transmitted to the first GPS sensor 110 provided in the UAV 100 The reliability of the relative position of the UAV 100 can be verified by comparing the coordinates of the UAV 100 with the coordinates of the UAV 100.

The reliability verification step (S40) enables the UAV 100 to be guided to the target point more accurately.

At this time, the reliability verification step (S40) may include a fixed beacon self verification step (S42), wherein the fixed beacon self verification step (S42) includes a plurality of fixed beacons (200) And realizing self-verification of information including the position of each fixed beacon 200 or LLA coordinates, thereby improving the reliability of a signal transmitted to the movable beacon 120 of the UAV 100 .

More specifically, as shown in FIG. 2, a second GPS sensor 220 is installed on at least one fixed beacon 200 among a plurality of fixed beacons 200 installed on the ground, and a keypoint beacon (Not shown).

The fixed beacons 200 on the ground can confirm their positions through communication with each other. First, the keypoint beacons 210 equipped with the second GPS sensor 220 are received through the second GPS sensor 220 The user can check his or her position, that is, the LLA coordinates.

The fixed beacons 200 without the second GPS sensor 220 can confirm the distance information from the keypoint beacons 210 through communication with the keypoint beacons 210. The keypoint beacons 210 ) And the distance information from the keypoint beacon 210 can be combined to estimate their LLA coordinates.

Accordingly, the fixed beacons 200 including the keypoint beacon 210 installed on the ground can check their positions in real time, and by comparing the identified positions with the initial installation position, And the reliability of the position signal transmitted to the mobile beacon 120 provided in the UAV 100 from the fixed beacon 200 can be checked and thus the UAV 100 to the landing target point can be checked Can be performed more precisely.

When the polygonal landing pad 300 is installed at the landing target point of the UAV 100 and the fixed beacon 200 is installed at each vertex of the landing pad 300, the second GPS sensor 220 is installed Without the keypoint beacon 210, the fixed beacon self verification step (S42) can be performed, which is also done by mutual communication between the fixed beacons (200).

That is, the geometric shape information of the landing pad 300 is previously stored, the distances between the fixed beacons 200 are confirmed by communication between the fixed beacons 200, and the identified distance is stored in the geometric shape information The beacon 200 can be self-diagnosed whether or not the fixed beacon 200 is out of the initial installation position.

In this case, the information transmitted by the communication between the fixed beacons 200 may be composed of 31 bytes. As shown in (b) of FIG. 3, the header, the pad shape number, Rotation angle, position number, beacon type, other setting information, CRC (Cyclic Redundancy Check), and check sum (Checksum).

More specifically, the header serves to distinguish packetized information transmitted by communication between fixed beacons 200, and the pad shape information can identify the shape of the landing pad 300 And the shape of the landing pad 300 can be easily identified by indicating the landing pad 300 in numerical form such as a square-1, a pentagon-2, a hexagon-3, and the like.

Next, the pad size is used to confirm the size of the landing pad 300, and a method of displaying the length of one side in meters may be used.

Next, the pad rotation angle is used to identify the direction in which the landing pad 300 is installed with respect to the north direction, and it indicates the rotation angle of the landing pad 300 in the clockwise direction with respect to the north direction Method can be used.

Next, the position number indicates the vertex position number of the landing pad 300 set in advance as shown in FIG. 3 (a), and the beacon type indicates the type of the fixed beacon, that is, the BLE beacon or the range beacon This is for displaying the hardware of the fixed beacon.

Next, the other setting information is used to store additional information according to a necessary situation in the landing guide process of the UAV 100, and the CRC (Cyclic Redundancy Check) can detect an error occurring in the data transmission process The check sum is used for checking the accuracy of the transmitted data.

Therefore, by transmitting the information including the above contents to each other through communication between the fixed beacons 200, it is possible to find the fixed beacon 200 deviating from the initial installation position without a separate keypoint beacon 210 The accuracy of the signal transmitted to the mobile beacon 120 of the UAV 100 can be improved.

When the reliability verification of the relative position of the UAV 100 is completed by the above process, the UAV 100 determines the relative position of the UAV 100 from the target point calculated in the relative position calculation step S30 The control unit 130 controls the flight control module 136 to fly to the target point and land on the correct target point or the landing pad 300. [

If the verification of the relative position of the UAV 100 is unsuccessful in the reliability verification step S40 or the verification of the relative position of the UAV 100 calculated in the relative position calculation step S30 and the relative position of the UAV 100 is confirmed through the first GPS sensor 110 If there is a large difference between the position coordinates of the UAV 100, the operation returns to the beacon signal reception step S20 and the relative position calculation of the UAV 100 is performed again through the new information transmitted from the fixed beacon 200 on the ground .

When the fixed beacon 200 is detected in the fixed beacon self-verification step S42 when the fixed beacon 200 is out of the installation position or an error occurs in the signal, the mobile beacon 120 of the UAV 100 is detected from the fixed beacon 200, It is also possible to minimize the error that may be generated in calculating the relative position of the UAV 100 by blocking the signal transmitted to the UAV 100.

As shown in FIG. 5, the unmanned airplane landing guidance system using the method for calculating the relative position of an unmanned airplane according to the present invention includes a first GPS sensor 110, a plurality of fixed beacons 200a, 200b, ..., 200n A movable beacon 120, and a control unit 130. [

More specifically, the first GPS sensor 110 is provided in the UAV 100, and receives the current position information of the UAV 100 from GPS satellites, that is, latitude, longitude, and altitude information. The UAV 100 is configured to fly to the coordinates near the target landing point under the control of the flight control module 136 based on the position information received by the first GPS sensor 110. [

Next, the fixed beacon 200 is fixedly installed on the ground around the landing target point. As described above, the UAV 100 flying around to the target point by the flight control based on the signal of the first GPS sensor 110 And transmits the position information of the UAV 100 periodically to the UAV 100 around the installation position of the fixed beacon 200 when it is sensed.

A plurality of fixed beacons 200 are spaced apart from each other by a predetermined distance so that the connection lines of neighboring fixed beacons 200 are polygonal. A position signal transmitted from the fixed beacon 200 to the UAV 100 And includes an LLA coordinate of the UAV 100 centering on the fixed beacon 200 and an RSSI signal for measuring the distance to the UAV 100. [

As described above, the landing pad 300 having a polygonal shape may be provided at the landing target point of the UAV 100, and the fixed beacon 200 may be installed at each vertex of the landing pad 300.

Next, the mobile beacon 120 is provided in the UAV 100 to allow the fixed beacon 200 installed on the ground to recognize the UAV 100 and receive the position signal transmitted from the fixed beacon 200 Which is a dual mode Bluetooth Smart Ready function capable of bi-directional transmission.

That is, when the UAV 100 flying toward the target point is reached near the target point (within a range of about 50 to 100 m) by the information received by the first GPS sensor 110, It is possible to recognize that the UAV 100 has reached the target point by recognizing the movable beacon 120 provided in the UAV 100. [

Next, the control unit 130 receives the position signal from the fixed beacon 200 and the position of the UAV 100 received through the first GPS sensor 110, which are provided in the UAV 100 and received via the mobile beacon 120, The verification module 134 and the flight control module 136. The operation module 132 includes a verification module 134 and a flight control module 136. The operation module 132 includes a verification module 134 and a flight control module 136,

More specifically, the calculation module 132 calculates a relative position accuracy of the method according to the present invention using the position signals from the fixed beacon 200 received via the movable beacon 120, The verification module 134 is operative to calculate a relative position of the UAV 100 around the target point through an operation performed in an operation step S30, 100 relative to the position information of the UAV 100 received through the first GPS sensor 110 and verifies the reliability of the relative position calculated by the calculation module 132. [

Next, the flight control module 136 controls the flight of the UAV 100 to the landing target point. At a point far from the target point not recognized by the fixed beacon 200, the first GPS sensor 110 The control unit 130 controls the flight toward the target point on the basis of the position information of the UAV 100 received by the computing module 132 and after reaching the periphery of the target point and recognized by the fixed beacon 200, So that the UAV 100 can accurately land on the target point based on the relative position information of the UAV 100 from the calculated target point.

Therefore, according to the method of calculating the relative position accuracy of the vertical take-off and landing unmanned aerial vehicle according to the present invention and the unmanned landing guidance system using the same, the relative position of the UAV 100 can be accurately calculated from the landing target point Therefore, it is possible to minimize the error that may occur in the landing control of the UAV 100, thereby significantly reducing the probability of occurrence of the landing accident of the UAV 100. Also, the number of fixed beacons 200), it is possible to smoothly perform the tasks such as the logistics (courier service) using the UAV 100 by allowing the UAV 100 to land at the target point precisely, The relative position of the airplane 100 can be calculated by itself in the UAV 100 to control the flight The configuration of the ground device for controlling the landing of the UAV 100 can be greatly simplified and the cost of constructing the landing guide system of the UAV 100 can be drastically reduced due to the simplified configuration It has various advantages.

Although the preferred embodiments of the present invention have been described for illustrative purposes, those skilled in the art will readily appreciate that many modifications are possible in the exemplary embodiments without materially departing from the novel teachings and advantages of this invention.

100: unmanned (flight) machine 110: first GPS sensor
120: movable beacon 130:
132: operation module 134: verification module
136: Flight control module 200: Fixed beacon
210: keypoint beacon 220: second GPS sensor
300: Landing pad
S10: Accessing the unmanned airplane Step S20: Receiving the beacon signal
S30: relative position calculation step S40: reliability verification step

Claims

An unmanned airplane approaching step in which the unmanned airplane approaches a target point using a signal received through a first GPS sensor provided in the unmanned airplane;
A beacon signal receiving step of receiving signals generated from a plurality of fixed beacons installed at a target point through a movable beacon provided in a UAV;
A relative position calculation step of calculating a relative position of an unmanned airplane from a target point by combining beacon signals received through the movable beacon using a control unit provided in the unmanned airplane; And
And a reliability verification step of determining reliability of the calculated relative position by comparing the relative position of the UAV calculated in the relative position calculation step with the coordinates of the UAV acquired through the first GPS sensor,
Wherein the reliability verification step includes a fixed beacon self-diagnosis step of self-diagnosing status information including a real-time position of each fixed beacon through communication between fixed beacons.

The method according to claim 1,
In the beacon signal receiving step, the signal generated from the fixed beacon includes the LLA coordinates of the unmanned airplane centered on each beacon, the RSSI for measuring the distance to the target point, and the ID for identifying the unmanned airplane And calculating the relative position precision of the vertical takeoff / landing unmanned aerial vehicle.

delete

The method according to claim 1,
Wherein the fixed beacon self-diagnosis step includes a step of detecting the LLA coordinates of each fixed beacon using the position signal from the second GPS sensor and the distance from the keypoint beacon, And estimating the relative position accuracy of the vertical takeoff / landing unmanned aerial vehicle.

A first GPS sensor provided in the unmanned airplane,
A plurality of fixed beacons which are installed at a predetermined distance from each other around the target point and transmit position signals to the unmanned airplane,
A mobile beacon provided in the unmanned airplane and receiving a position signal transmitted from the fixed beacon,
And a controller for controlling the flight of the unmanned airplane to the target point by combining the position signal received through the movable beacon and the position information of the unmanned airplane received through the first GPS sensor,
Wherein a part of the fixed beacons comprises keypoint beacons including a second GPS sensor.

The method according to claim 6,
Wherein the fixed beacon installed at the target point is any one of a low power Bluetooth beacon or a range beacon.

delete

The method according to claim 6,
Wherein the fixed beacon is installed so that connection lines of neighboring beacons are formed in a polygonal shape.

The method according to claim 6,
Further comprising a landing pad of a polygonal shape installed at a landing target point of the unmanned airplane, wherein the fixed beacon is installed at a vertex of the landing pad.

11. The method of claim 10,
Wherein the fixed beacon is configured to self-diagnose its installation position through communication between the fixed beacons.

12. The method of claim 11,
Wherein the signal transmitted by the communication between the fixed beacons includes information on a pad shape number, a pad size, a pad rotation angle, and a position number.

The method according to claim 6,
The control unit includes a calculation module for calculating a relative position of an unmanned airplane around a target point using position signals received via a mobile beacon,
A verification module for comparing a relative position of the UAV calculated by the calculation module with position information obtained through a GPS sensor,
And a flight control module for controlling the flight of the UAV by using the relative position information and the GPS information of the UAV calculated by the calculation module.