KR101911353B1 - Autonomic flight method when gnss signal loss and unmanned aerial vehicle for the same - Google Patents

Abstract

According to the present invention, an autonomous flight method in case of GNSS signal loss estimates a current position required for flight by acquiring and correcting a measurement value and estimate through polygon information, image information, and INS information when unmanned aerial vehicle position information is erroneous during normal flight of an unmanned aerial vehicle. However, when position information of an unmanned aerial vehicle is normally received, current position estimation is stopped and the unmanned aerial vehicle flies again by utilizing the position information of the unmanned aerial vehicle. Accordingly, the method enables a safe and accurate unmanned flight to a target point even in case of a GNSS signal error such as a weak GNSS signal and geomagnetic disturbance.

Description

{AUTONOMIC FLIGHT METHOD WHEN GNSS SIGNAL LOSS AND UNMANNED AERIAL VEHICLE FOR THE SAME}

The present invention relates to a method for autonomous flight of an unmanned aerial vehicle, and more particularly, to a unmanned aerial vehicle to which a method beam is applied safely to a target point along a predetermined path.

Generally, a drone is a type of unmanned aerial vehicle that does not require pilots. It has been developed and used for military purposes to reconnaissance and destroy enemy forces in international disputed areas. Recently, however, The use range thereof is gradually increasing.

For example, drones are relatively light and easy to operate, so they are not only widely used for broadcasting, they are also used to observe wild animals in a wide area, deliver courier services, and patrol flights in urban areas. .

Here, in order to fly unmanned from the starting point to the target point, the GNSS must be used. In this situation, it is generally not easy to perform the mission in the urban area due to the weakness of the GNSS signal acquired from the GNSS, In the open area, GNSS signal was missed or malfunctioned frequently due to geomagnetic disturbance.

Korean Patent Publication No. 2017-0080354, Publication Date: July 10, 2017 Title of invention: Virtual Skyway for UAV safety flight, control system and UAV navigation device and service using it.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an autonomous flight method for flying safely and accurately to a desired target point even when a GNSS signal is lost, and an unmanned aerial vehicle therefor.

According to another aspect of the present invention, there is provided an autonomous flight method for an unmanned aerial vehicle, comprising: loading polygon information containing coordinate information from a source point to a target point extracted from GIS information of a geographical information system into a memory; If the position information of the unmanned aerial vehicle is in error along the travel route determined through the position information of the unmanned aerial vehicle received from the GNSS, then the measured polygon information and the measured value indicating the current position based on the image information photographed by the camera Obtaining an estimated value by estimating the current position using the INS information provided from the INS and estimating a current position necessary for the flight through the correction between the obtained measured value and the estimated value; And flying to the target point using the estimated current position information.

The step of estimating the current position may include obtaining the measured value by mapping the polygon information to the image information.

Estimating the current position may include correcting the measured value by correcting a position error generated between the actual value and the estimated value, And estimating the current position based on the corrected measured value.

The polygon information may include spatial information from a source point to a target point and coordinate information mapped to the spatial information, and the image information may include geographical information.

The INS information may include estimated coordinates, moving direction, and moving speed of a position in flight.

Wherein the step (a) includes the steps of: if the position information of the unmanned aerial vehicle is received normally, it is possible to fly from the current position acquired using the position information of the received unmanned aerial vehicle to the target point without depending on the estimated current position have.

According to another aspect of the present invention, there is provided a communication system including: a communication interface; A memory for storing data or instructions; And a controller for controlling the communication interface and the memory. The controller includes an information mounting unit for mounting polygon information containing coordinate information from a source point to a target point extracted from the GIS information of the geographical information system in a memory, ; If the position information of the unmanned aerial vehicle is in error during the flight along the predetermined route through the position information of the unmanned aerial vehicle received from the GNSS, the polygon information stored in the memory and the current position based on the image information photographed by the camera A measured value acquiring unit for acquiring an actual value; An estimated value acquiring unit for acquiring an estimated value by estimating the current position using the INS information provided from the INS; A current position estimator for estimating a current position necessary for flight through the correction between the obtained measured value and the estimated value; And a flight propulsion unit that uses the estimated current position information to fly to the target point.

The measured value obtaining unit may obtain the measured value by mapping the polygon information stored in the memory to the image information.

The current position estimator may correct the measured value by correcting the position error generated between the measured value and the estimated value, and may estimate the current position based on the corrected measured value.

The polygon information may include spatial information from a source point to a target point and coordinate information mapped to the spatial information, and the image information may include geographical information.

The INS information may include estimated coordinates, moving direction, and moving speed of a position in flight.

The flight propulsion unit can fly from the current position acquired using the position information of the received unmanned aerial vehicle to the target point without depending on the estimated current position when the position information of the unmanned aerial vehicle is normally received .

According to the present invention, by precisely estimating the current position through mutual correction between the INS information obtained from the INS, the polygon information, and the image information, the GNSS (including the position signal of the unmanned air vehicle) signal disturbance, the weakness and geomagnetic disturbance of the GNSS signal Even if the GNSS signal error, such as a safe and accurate unmanned flight can be achieved to the target point.

The present invention also relates to a method and apparatus for correcting a GNSS signal disturbance such as a GNSS signal disturbance, a weak GNSS signal and a geomagnetic disturbance by correcting a measured error between a measured value and an estimated value to correct an actual measurement value, There is also an effect that safe and accurate unmanned flight can be performed until the target point.

The best effects of the present invention are not limited to those described above, and include various other effects that can be clearly understood by those skilled in the art to which the present invention belongs.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of the specification, serve to explain the principles of the invention. It is to be understood, however, that the technical features of the present invention are not limited to the specific drawings, and the features disclosed in the drawings may be combined with each other to constitute a new invention.
1 is a flowchart illustrating an exemplary method of autonomous flight of an unmanned aerial vehicle according to the present invention.
FIG. 2 is a flowchart illustrating a step 130 of the autonomous flight method of FIG. 1 according to the present invention.
FIG. 3 is a block diagram illustrating a connection state of the unmanned aerial vehicle for performing the steps of FIGS. 1 and 2. FIG.
FIG. 4 is a schematic diagram of a unmanned aerial vehicle for autonomous flight in the event of a GNSS signal failure according to the present invention.
FIG. 5 is a block diagram illustrating the controller of the unmanned aerial vehicle of FIG. 4 according to the present invention.

In the following description and the claims, the terms "comprises", "comprising" and the like mean that the constituent elements are provided as one of the various constituent elements unless otherwise specifically stated, Is not to be excluded.

Also, the term " part " may refer to a unit or block that performs a specific function by distinguishing hardware or software or functions performed by combining hardware and software.

The unmanned aerial vehicle described in the following description and patent claims is cited as a broad concept including a drones, an unmanned helicopter, an unmanned aerial vehicle, etc., and the GNSS described below is replaced with a GPS and the GNSS signal is replaced with a GPS signal It is possible to know in advance.

 Hereinafter, the autonomous flight method and the unmanned aerial vehicle to which the present invention is applied will be described in detail with reference to the related drawings.

FIG. 1 is a flowchart illustrating an example of an autonomous flight method of an unmanned aerial vehicle according to the present invention, FIG. 2 is a flowchart illustrating more specifically step 130 of the autonomous flight method of FIG. 1 according to the present invention, 1 and FIG. 2 according to an embodiment of the present invention.

The unmanned aerial vehicle 10 shown in FIG. 3 is connected to a Global Navigation Satellite System (GNSS) 20 by satellite communication, receives position information (GNSS signal) of an unmanned aerial vehicle from the GNSS 20, It is possible to fly using the GIS information previously acquired from the location information and the geographic information system (GIS) 15.

However, the unmanned aerial vehicle 10 includes an INS (Inertial Navigation System) 30, a camera 40, and a memory 50, Can be utilized for tracking the current position in flight using the data processed by the GPS receiver and the GIS information pre-mounted. The autonomous flight method of FIG. 1 realized by the unmanned aerial vehicle 10 is as follows.

Referring to FIG. 1, the autonomous driving method according to the present invention includes steps 110 to 140 which are realized through the unmanned aerial vehicle 10 of FIG.

In step 110, the unmanned aerial vehicle 10 can mount the polygon information containing the coordinate information from the starting point to the target point in the memory 50, based on the GIS information previously obtained from the geographical information system 15.

The polygon information mentioned includes the spatial information from the starting point to the target point necessary for the unmanned air vehicle 10 to reach the target point along the predetermined movement path and the coordinate information mapped to the spatial information, ) May be a result of selecting only the geographical information for reaching the target point from the starting point of the GIS information which is essentially provided to the unmanned air vehicle (10) for the safe flight of the unmanned air vehicle (10). The GIS information mentioned above includes geographical information and coordinate information as is commonly known, and the geographical information of the GIS information may be a three-dimensional map map.

In step 120, the unmanned aerial vehicle 10 can perform a normal flight from the departure point to the target point along the travel route through the location information of the unmanned air vehicle 10 received from the GNSS 20. [ These flights indicate normal flight in the absence of signal errors such as GNSS signal disturbances.

In step 130, when the position information (GNSS signal) of the unmanned aerial vehicle received from the GNSS 20 during the flight is in error, the unmanned aerial vehicle 10 can not fly along the normal travel route, After recognizing the error, you must estimate your current location and fly.

In order to estimate the current position, step 130 according to the present invention may include steps 131 to 133 as shown in FIG.

In step 131, the unmanned aerial vehicle 10 can acquire image information of a geographical area viewed from the sky using the camera 40 mounted on the unmanned air vehicle 10. At this time, the image information is preferably geographical information.

In step 132, the unmanned air vehicle 10 may acquire an actual value indicating a current position in flight based on the polygon information mounted on the memory 50 and the image information photographed through the camera 40.

For example, since the polygon information mounted on the memory 40 is extracted from the GIS information in advance and has the spatial information from the source to the target point and the coordinate information mapped to the spatial information, By mapping to the information, it is possible to obtain an actual value indicating the current position in flight.

For example, the unmanned aerial vehicle 10 can check the coincidence or non-coincidence of the spatial information of the corresponding position in flight, finds coordinate information matched to the corresponding spatial information, Can be obtained.

In step 133, the unmanned aerial vehicle 10 receives the INS information including the estimated coordinates, the moving direction, and the moving speed of the in-flight position from the INS 30 mounted on the unmanned air vehicle 10, So that the estimated value of the current position of the unmanned air vehicle 10 in flight can be obtained.

The accurate current position of the unmanned air vehicle 10 can not be known only with the normal INS information and the unmanned air vehicle 10 acquires the estimated value of the current position using the INS information as described above . However, the obtained estimate needs to be corrected and the following step 134 is performed.

That is, in step 134, the unmanned aerial vehicle 10 can estimate the accurate current position necessary for the flight through the correction between the measured value using the polygon information and the image information and the estimated value using the INS information as described above.

Referring again to FIG. 1, in step 140, the unmanned air vehicle 10 moves from the moment the position information error of the unmanned aerial vehicle occurs to the target point along the travel route based on the current position estimated by the step 130 It will be possible.

At this time, if the position information of the unmanned aerial vehicle continues to generate an error, the unmanned air vehicle 10 may repeat the steps 130 and 140 described above.

However, if the unmanned aerial vehicle 10 normally receives the position information of the unmanned aerial vehicle 10 from the GNSS 20 in the process of repeating steps 131 and 134, the unmanned aerial vehicle 10 does not depend on the current position The user can fly again along the normal travel route from the current position to the target point using the position information of the unmanned air vehicle 10 normally received.

Alternatively, in step 130, the unmanned aerial vehicle 10 can correct (generalize) the measured values by correcting the position errors generated between the actual values and the estimated values. In this case, the correction of the measured value may be a process of continuously learning the positional error generated between the measured value and the estimated value, and reflecting the result of the calibration learning to the measured value generated using the polygon information and the image information.

Accordingly, in step 130, the unmanned aerial vehicle 10 estimates the current position capable of flying along the predetermined travel route based on the corrected measured values, and then flows back to the target spot along the travel route with reference to the estimated current location It will be possible.

As described above, since the present embodiment can not fly along a route determined by the INSS alone in the case of a signal error of the GNSS (including the position information of the unmanned aerial vehicle), it is possible to perform mutual correction between the image information (geographical information) By precisely estimating the current position of the unmanned aerial vehicle in flight, it can help to safely fly to the target point along the defined travel route.

FIG. 4 is a schematic diagram of a unmanned aerial vehicle for autonomous flight in the event of a GNSS signal failure according to the present invention, and FIG. 5 is a block diagram illustrating a more detailed configuration of the controller of the unmanned aerial vehicle of FIG. 4 according to the present invention.

As shown, the unmanned aerial vehicle 200 according to the present invention includes a communication interface 210, a memory 220, a camera 230, an INS (Inertial Navigation System) 240, and a controller 250 can do.

The communication interface 210 is a means for establishing a network connection with the controller 230 and external devices such as a geographic information system 350 and a GNSS 300. The communication interface 210 includes a geographical information system 350, Data can be transmitted and received via the data interface and the data interface between the flight objects 200 and between the GNSS 300 and the UAV 200, respectively.

The memory 220 stores data processed by the communication interface 210, the camera 230, the INS 240, and the controller 250, and may further store the associated instruction codes. The memory 220 is preferably a volatile memory or a non-volatile memory.

The camera 230 receives the command of the controller 230 and operates to capture an image. The photographed image information is preferably geographical information. For example, in the case of a GNSS signal error, the camera 230 receiving the operation command from the controller 230 photographs an image containing geographical information from sky to ground, transmits the photographing result to the controller 250, The image information may be stored in the memory 220 by an instruction of the controller 250.

The INS 240 can detect the current location of the unmanned aerial vehicle and generate the INS information to guide the route to the target point. Although the INS 240 has an advantage of being unaffected by the weather condition or radio wave interference, it has a problem that an error occurs when moving a long distance. To reduce this error, the controller 250 to be described later performs error correction.

In the present invention, the controller 250 controls at least one of the communication interface 210, the memory 220, the camera 230 and the INS 240 as described above, and is connected to the Global Navigation Satellite System (GNSS) 300, When the position information of the unmanned air vehicle 200 is normally received, the control unit controls the flight to reach the target point along the normal movement route using the position information of the received unmanned air vehicle 200, If an error is detected, normal flight is difficult, so you can estimate your current location with the help of a variety of information and fly to the target location based on this.

The controller 250 includes an information mounting unit 251, a first flight sensing unit 252, a measured value obtaining unit 253, an estimated value obtaining unit 254, a current position estimating unit 255, And a second flight propulsion unit 256.

First, when the unmanned air vehicle 200 is connected to the geographical information system 350 through the communication interface 210 in the state where the unmanned air vehicle 200 is not flying, the information mounting unit 251 may start from the GIS information received from the geographical information system 350 The polygon information including the position information from the target position to the target point can be extracted and loaded into the memory 220. [

The referred polygon information includes coordinate information, direction information, structure information, and movement route information necessary for the unmanned aerial vehicle to reach a target point along a predetermined movement route, and the geographical information system 350 includes an unmanned aerial vehicle 200 Of the GIS information that is essential to the unmanned aerial vehicle 200 for the safe flight of the unmanned air vehicle 200 may be a result of selecting only the geographical information to reach the target point from the starting point.

Next, the first flight estimation unit 252 can perform a normal flight from the departure point to the target point along the travel route through the location information of the unmanned air vehicle 200 received from the GNSS 300. [ Such a flight refers to a normal flight when the position information of the unmanned aerial vehicle 200 is not erroneous, such as a radio disturbance.

If the position information of the unmanned air vehicle 200 received from the GNSS 300 during the normal flight of the unmanned object 200 is in error, the measured value acquisition unit 253 can not fly along the normal travel route, The polygon information stored in the memory 220 is retrieved and the camera 230 mounted on the unmanned air vehicle 200 is operated to acquire image information from the camera 230. Based on the imported polygon information and the acquired image information, An actual value indicating the current position of the unmanned air vehicle 200 in flight can be obtained (calculated).

For example, since the polygon information loaded in the memory 220 has the spatial information from the source to the target point and the coordinate information mapped to the spatial information, such information is mapped to the geographical information of the image information, The controller 10 can obtain an actual value indicating the current position in flight through the mapped result. In addition, the image information mentioned above may include geographical information photographed by the camera 230 toward the ground.

For example, the measured value acquiring unit 253 finds the coincidence as to whether the coincidence is found by looking up the geospatial information of the corresponding position in flight, and if the coincidence is found, the coincidence information matched to the geospatial information is found, The measured value can be obtained.

Next, the estimated value obtaining unit 254 receives the INS information including the estimated coordinates of the position in flight, the moving direction, and the moving speed from the INS 240 (Inertial Navigation System) mounted on the unmanned flying object 200, It is possible to obtain an estimated value by estimating the current position of the unmanned aerial vehicle in flight using the received INS information.

The accurate current position of the unmanned aerial vehicle 10 can not be known only by the normal INS information and the unmanned air vehicle 200 obtains the estimated value of the current position using the INS information as described above . However, the obtained estimate needs to be corrected through the current position estimating unit 255 to be described later.

Alternatively, in the present invention, the estimated value obtaining unit 254 can correct (generalize) the measured value by correcting the position error generated between the obtained measured value and the estimated value. In this case, the correction of the measured value may be a process of continuously learning the positional error generated between the measured value and the estimated value, and reflecting the result of the calibration learning to the measured value generated using the polygon information and the image information.

Next, the current position estimating unit 255 can estimate the current position necessary for the flight through the correction between the measured value using the polygon information and the image information and the estimated value using the INS information, or the predetermined position based on the corrected measured value You can estimate your current position along the route. Thus, the unmanned aerial vehicle 200 can safely fly to the target point along the movement route by referring to the estimated current position.

Finally, the second flight propulsion unit 256 acquires the target position along the movement route based on the current position estimated by the current position estimation unit 255 from the moment when the position information of the unmanned air vehicle 200 is generated from the error You will be able to fly again. When the position information of the unmanned air vehicle 200 continues to generate an error, the actual value acquiring unit 253, the estimated value acquiring unit 254, the current position estimating unit 255, and the second flight propelling unit 256, Can be repeatedly performed.

However, if the position information of the unmanned aerial vehicle 200 is normally received from the GNSS 300 in the repeating process described above, the second flight promoting unit 256 may transmit the normally received unmanned aerial vehicle 200 ), It is possible to perform the flight again along the normal movement route from the current position to the target point.

In this way, the present embodiment can not fly along a travel route determined only by the INSS when the GNSS signal (including the location information of the unmanned aerial vehicle) is erroneous, so that the mutual correction between the image information (geographical information) By precisely estimating the current position of the unmanned aerial vehicle in flight, it can help to safely fly to the target point along the defined travel route.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. .

Therefore, the embodiments described above are merely illustrative and are not intended to limit the scope of the present invention to the foregoing embodiments. It is to be understood that the flowcharts shown in the drawings are merely illustrative examples for achieving the most desirable results in the practice of the present invention, and that other steps may be added or some steps may be deleted.

The scope of the present invention will be defined by the appended claims, but all changes or modifications derived from the equivalents, as well as those directly derived from the claims, are also included in the scope of the present invention. .

10,200: Unmanned Vehicle 15, 350: Geographic Information System
20,300: GNSS 30,240: INS
40,230: Camera 50,220: Memory
210: communication interface 250: controller
251: Information loading unit 252: First flight component
253: Actual value acquisition unit 254:
255: current position estimation unit 256: second flight propulsion unit

Claims (12)

In an autonomous flight method of an unmanned aerial vehicle,
Loading polygon information containing coordinate information from a source point to a target point extracted from GIS information of a geographic information system into a memory;
If the position information of the unmanned aerial vehicle is in error along the travel route determined through the position information of the unmanned aerial vehicle received from the GNSS, then the measured polygon information and the measured value indicating the current position based on the image information photographed by the camera Obtaining an estimated value by estimating the current position using the INS information provided from the INS and estimating a current position necessary for the flight through the correction between the obtained measured value and the estimated value; And
Flying to the target point using the estimated current position information;
Lt; / RTI >
Wherein the estimating of the current position comprises:
Mapping the polygon information to the image information to obtain an actual value indicating a current position;
Correcting the measured value by correcting the position error generated between the measured value and the estimated value; And
And estimating the current position based on the modified measured value. delete delete The method according to claim 1,
Wherein the polygon information includes spatial information from a source point to a target point and coordinate information mapped to the spatial information, wherein the image information includes geographic information. The method according to claim 1,
Wherein the INS information comprises an estimated coordinate of a position in flight, a direction of movement, and a speed of movement. 6. The method according to any one of claims 1 to 5,
Wherein the flying step comprises:
Characterized in that when the position information of the unmanned aerial vehicle is received normally, it flows from the current position acquired using the position information of the received unmanned aerial vehicle to the target point without depending on the estimated current position. How to fly. Communication interface;
A memory for storing data or instructions;
And a controller for controlling the communication interface and the memory,
The controller comprising:
An information loading unit for loading polygon information containing coordinate information from a source point to a target point extracted from the GIS information of the geographical information system into a memory;
If the position information of the unmanned aerial vehicle is in error during the flight along the predetermined route through the position information of the unmanned aerial vehicle received from the GNSS, the polygon information stored in the memory and the current position based on the image information photographed by the camera A measured value acquiring unit for acquiring an actual value;
An estimated value acquiring unit for acquiring an estimated value by estimating the current position using the INS information provided from the INS;
A current position estimator for estimating a current position necessary for flight through the correction between the obtained measured value and the estimated value; And
A flight propulsion unit that uses the estimated current position information to fly to the target point;
Lt; / RTI >
The measured-
Mapping the polygon information stored in the memory to the image information to obtain an actual value indicating a current position,
Wherein the current position estimating unit comprises:
Correcting the measured value by correcting the position error generated between the actual value and the estimated value, and estimating the current position based on the corrected measured value. delete delete 8. The method of claim 7,
Wherein the polygon information includes spatial information from a source point to a target point and coordinate information mapped to the spatial information, and the image information includes geographical information. 8. The method of claim 7,
Wherein the INS information includes estimated coordinates of a position in flight, a moving direction, and a moving speed. 12. The method according to any one of claims 7 and 10 to 11,
The flight propulsion unit includes:
Wherein when the position information of the unmanned aerial vehicle is received normally, it flows from the current position acquired using the position information of the received unmanned aerial vehicle to the target point without depending on the estimated current position. Aircraft.

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