KR102061855B1 - Apparatus and method for estimating pseudo attitude of flight model - Google Patents

Abstract

The present invention relates to an apparatus and method for estimating a simulated posture of a flight model, the third model being perpendicular to the horizontal axis (X axis) and vertical axis (Y axis) and the horizontal axis (X axis) and vertical axis (Y axis) of the flight model. A position data collection unit for collecting position data on an XYZ coordinate system including an axis (Z axis); A position data converter for converting the collected position data of the X-Y-Z coordinate system into three-axis position data of the latitude and longitude coordinate system; A velocity vector calculator configured to calculate a velocity vector of the flight model using three-axis position data of the converted latitude-longitude coordinate system; An acceleration vector calculator configured to calculate an acceleration vector of the flight model using the calculated velocity vector of the flight model; And a simulation posture information acquisition unit for obtaining simulation posture information of the flight model based on the calculated three-axis position data, the velocity vector, and the acceleration vector of the latitude and longitude coordinate system of the flight model.

Description

Apparatus and method for simulating posture of flight model {APPARATUS AND METHOD FOR ESTIMATING PSEUDO ATTITUDE OF FLIGHT MODEL}

The present invention relates to an apparatus and method for estimating a simulated posture of a flight model, and more particularly, by using position data of an XYZ coordinate system of a flight model collected from a radar or a GPS receiver. An apparatus and method for simulating a posture of a flight model for estimating a flight path angle excluding an angle).

To use drones such as drones for industrial activities as the next generation of industrial driving force, infrastructure with reliability, stability, location precision, low latency, and efficient tracking technology must be built. For example, if an infrastructure such as stability is secured, a drone such as drone can be commercially used in the constructed infrastructure, and the added value obtained through commercial use will gradually increase.

Such a mobile communication network of a mobile communication system may be used as one of infrastructures for controlling and tracking a vehicle. In general, in a mobile communication network, a mobile terminal simultaneously transmits and receives to one or more base stations for communication. In order to construct an infrastructure of a vehicle such as a drone using a mobile communication network, a technology capable of securing low latency and location precision in an existing mobile communication network is required.

For this purpose, a spatial position estimation technique using a satellite positioning system (hereinafter, referred to as 'GPS') may be used. However, a situation may arise where GPS is not available. One such example is a situation in which a high building in a part of an urban area is located in a shaded area where GPS signals are not received. As a result, the accuracy of position estimation must be ensured in order to maintain accurate communication and reliable communication connection of the aircraft in the infrastructure for the control and tracking of the existing aircraft. However, there was a problem in that the accuracy of location estimation could not be secured in an infrastructure using GPS technology in which shadowed areas exist.

In this regard, Korean Patent Laid-Open Publication No. 1999-0048901 discloses a "location system for space vehicles using earth station transmission information."

The present invention has been invented to solve the above problems, after converting the position data for the XYZ coordinate system of the flight model collected from the radar or GPS receiver into three-axis position data for the latitude and longitude coordinate system, the speed of the flight model An object of the present invention is to provide a simulation model and an apparatus for estimating a flight model, which calculates a vector and an acceleration vector, and obtains simulation information of a flight model based on the calculated velocity vector of the flight model and the acceleration vector of the flight model.

Simulation device of the flight model according to the present invention for achieving the above object is a perpendicular to the horizontal axis (X axis) and vertical axis (Y axis) and the horizontal axis (X axis) and vertical axis (Y axis) of the flight model A position data collection unit for collecting position data on an XYZ coordinate system including an axis of 3 (Z axis); A position data converter for converting the collected position data of the X-Y-Z coordinate system into three-axis position data of the latitude and longitude coordinate system; A velocity vector calculator configured to calculate a velocity vector of the flight model using three-axis position data of the converted latitude-longitude coordinate system; An acceleration vector calculator configured to calculate an acceleration vector of the flight model using the calculated velocity vector of the flight model; And a simulation posture information acquisition unit for obtaining simulation posture information of the flight model based on the calculated three-axis position data, the velocity vector, and the acceleration vector of the latitude and longitude coordinate system of the flight model.

The position data converter may include: a first converter converting the position data of the collected X-Y-Z coordinate system into position data of the NED coordinate system by applying an azimuth angle; And a second converter converting the position data of the converted NED coordinate system into three-axis position data of the latitude-longitude coordinate system by applying an initial launch position value.

The apparatus may further include a signal processing filter configured to filter an error or noise with respect to the converted latitude and longitude coordinate system.

The velocity vector calculator may include: a latitude-altitude altitude position data arranging unit configured to collect and arrange three-axis position data of a latitude-longitude altitude coordinate system that is converted according to a time change obtained while changing at a predetermined time interval; A latitude-longitude position data distance calculator for calculating a distance between three-axis position data with respect to the latitude-longitude coordinate system according to the arranged time change; And a velocity vector calculator configured to calculate the velocity vector of the flight model in the direction of the latitude-longitude altitude by dividing the calculated distance between the three-axis position data with respect to the latitude-longitude altitude coordinate system by the traveling time.

The velocity vector calculator may further include a velocity vector converging unit configured to converge the velocity vectors of the calculated flight model.

The acceleration vector calculator may include an acceleration vector calculator configured to calculate an acceleration vector by dividing the calculated velocity vector by a traveling time; An acceleration vector converting unit converting the calculated acceleration vector into an acceleration vector on a BODY coordinate system using a coordinate transformation matrix; A vertical acceleration vector calculator configured to calculate a vertical acceleration vector perpendicular to the flight model using the acceleration vector on the Y axis and the acceleration vector on the Z axis on the transformed BODY coordinate system; A gravitational acceleration vector calculation unit configured to calculate a gravitational acceleration vector of the flight model using the acceleration vector on the transformed BODY coordinate system; A lift acceleration vector calculator configured to calculate a lift acceleration vector based on the difference between the calculated vertical acceleration vector and the gravity acceleration vector; And a horizontal acceleration vector calculator configured to calculate a horizontal acceleration vector parallel to the horizontal plane on the converted BODY coordinate system.

The simulation attitude information obtaining unit may further include: a roll direction attitude estimating unit estimating a roll direction attitude of the flight model using a vertical acceleration vector perpendicular to the flight model and a horizontal acceleration parallel to the horizontal plane; A pitch direction attitude estimator for estimating a pitch direction attitude of the flight model using three-axis position data of a latitude and longitude coordinate system of the flight model; And a yaw direction attitude estimator for estimating a yaw direction attitude of the flight model by using a sum of latitude position data of the latitude and longitude coordinate system of the flight model, latitude position data and longitude position data of the latitude and longitude coordinate system of the flight model. It is characterized by including.

Simulation method of flight model of the flight model according to the present invention for achieving the above object is a horizontal axis (X axis) and vertical axis (Y axis) and horizontal axis (X axis) and vertical axis (Y) of the flight model by the position data collection unit; Collecting position data for an XYZ coordinate system including a third axis (Z axis) perpendicular to the axis; Converting, by the position data converting unit, position data on the collected X-Y-Z coordinate system into 3-axis position data on the latitude and longitude coordinate system; Calculating, by the velocity vector calculator, a velocity vector of the flight model using three-axis position data of the converted latitude-longitude coordinate system; Calculating, by the acceleration vector calculator, an acceleration vector of the flight model using the calculated velocity vector of the flight model; And acquiring, by the simulation attitude information acquisition unit, simulation attitude information of the flight model based on the calculated 3-axis position data, the velocity vector, and the acceleration vector of the latitude and longitude coordinate system of the flight model.

In addition, converting the position data for the collected X-Y-Z coordinate system into three-axis position data for the latitude and longitude coordinate system, applying the azimuth to the position data for the collected X-Y-Z coordinate system to convert the position data for the NED coordinate system; And converting the position data of the converted NED coordinate system into three-axis position data of the latitude-longitude coordinate system by applying the initial launch position value.

The method may further include filtering an error or noise on the converted latitude-longitude coordinate system after converting the collected positional data on the X-Y-Z coordinate system into 3-axis positional data on the latitude-longitude coordinate system.

In addition, the step of calculating the velocity vector of the flight model using the three-axis position data of the converted latitude-longitude coordinate system, the three-axis position with respect to the latitude-longitude coordinate system converted according to the time change obtained while changing at a predetermined time interval Collecting and arranging data; Calculating a distance between three-axis position data with respect to the latitude and longitude coordinate system according to the arranged time change; And calculating the velocity vector of the flight model in the direction of the latitude and longitude by dividing the distance between the three-axis position data with respect to the calculated latitude and longitude altitude coordinate system by the advancing time.

In addition, after calculating the velocity vector of the flight model in the direction of the longitude altitude by dividing the distance between the three-axis position data with respect to the calculated latitude-longitude coordinate system by the advancing time, the step of converging the calculated velocity vector of the flight model further It is characterized by including.

The calculating of the acceleration vector of the flight model using the calculated velocity vector of the flight model may include: calculating the acceleration vector by dividing the calculated velocity vector of the flight model by a traveling time; Converting the calculated acceleration vector into an acceleration vector on a BODY coordinate system using a coordinate transformation matrix; Calculating a vertical acceleration vector perpendicular to the flight model using the acceleration vector on the Y axis and the acceleration vector on the Z axis on the transformed BODY coordinate system; Calculating a gravity acceleration vector of the flight model using the acceleration vector on the transformed BODY coordinate system; Calculating a lift acceleration vector based on the difference between the calculated vertical acceleration vector and the gravity acceleration vector; And calculating a horizontal acceleration vector parallel to the horizontal plane on the transformed BODY coordinate system.

In addition, acquiring simulation information of the flight model based on the three-axis position data, velocity vector, and acceleration vector of the computed latitude and longitude coordinate system of the flight model includes: a vertical acceleration vector perpendicular to the flight model and a horizontal parallel to the plane plane. Estimating a roll direction attitude of the flight model using the acceleration; Estimating a pitch direction attitude of the flight model using three-axis position data of the latitude and longitude coordinate system of the flight model; And estimating a yaw direction attitude of the flight model using the sum of the latitude position data of the latitude and longitude coordinate system of the flight model, the latitude position data and the longitude position data of the latitude and longitude coordinate system of the flight model. Do it.

Simulated posture estimation device and method for a flight model according to the present invention having the configuration as described above is to convert the position data for the XYZ coordinate system of the flight model collected from the radar or GPS receiver into three-axis position data for the latitude and longitude coordinate system After that, by calculating the velocity vector and acceleration vector of the flight model, and obtaining simulation information of the flight model based on the calculated velocity vector of the flight model and the acceleration vector of the flight model, according to the radar layout or the reception sensitivity of the GPS receiver. Even when the positional accuracy is greatly changed, the attitude of the flight model can be estimated approximately.

1 is a view for explaining the configuration of the simulation posture estimation apparatus of the flight model according to the present invention.
2 is a view for explaining the detailed configuration of the speed vector calculation unit employed in the simulation posture estimation device of the flight model according to the present invention.
3 is a view for explaining the detailed configuration of the acceleration vector calculation unit employed in the simulation posture estimation device of the flight model according to the present invention.
4 is a view for explaining the detailed configuration of the simulation posture information acquisition unit employed in the simulation posture estimation device of the flight model according to the present invention.
5 is a flowchart illustrating a procedure of a simulation posture estimation method of a flight model according to the present invention.
6 is a view for explaining a process of converting the position data for the XYZ coordinate system to the three-axis position data for the latitude and longitude coordinate system in the simulation method for estimating the flight model according to the present invention.
FIG. 7 is a diagram for describing a process of filtering an error or noise with respect to a latitude and longitude altitude coordinate system converted in the simulation method for estimating a flight model according to the present invention.
FIG. 8 is a view for explaining a process of calculating a velocity vector of a flight model using three-axis position data of a latitude and longitude coordinate system converted in the simulation method for estimating a flight model according to the present invention.
FIG. 9 is a diagram for describing a process of acquiring simulation information of a flight model based on the velocity vector of the flight model and the acceleration vector of the flight model calculated by the simulation method for estimating the flight model according to the present invention.

As the present invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description.

However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. The singular forms "a", "an" and "the" do not exclude the possibility of the presence or addition of a plurality of expressions or combinations thereof unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. Or numbers, steps, operations, or components should be understood.

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention. Hereinafter, the same reference numerals are used for the same components in the drawings, and duplicate descriptions of the same components are omitted.

1 is a view for explaining the configuration of the simulation posture estimation apparatus of the flight model according to the present invention.

Referring to FIG. 1, the simulation posture estimation apparatus 100 of the flight model according to the present invention greatly calculates the position data collector 110, the position data converter 120, the signal processing filter 130, and the velocity vector. The unit 140 includes an acceleration vector calculator 150 and a simulated posture information acquirer 160.

The position data collector 110 may include a third axis perpendicular to a horizontal axis (X axis) and a vertical axis (Y axis) and a horizontal axis (X axis) and a vertical axis (Y axis) of the flight model collected from the radar or GPS receiver. Collect position data for XYZ coordinate system including Z-axis).

The position data converter 120 converts the position data of the collected X-Y-Z coordinate system into three-axis position data of the latitude-longitude coordinate system.

To this end, the position data converter 120 includes a first converter 121 and a second converter 122.

The first converting unit 121 converts the position data of the NED coordinate system by applying an azimuth to the collected position data of the X-Y-Z coordinate system.

The second converter 122 converts the position data of the converted NED coordinate system into three-axis position data of the latitude-longitude coordinate system by applying an initial firing position value.

The signal processing filtering unit 130 filters an error or noise with respect to the converted latitude and longitude coordinate system for accurate estimation of the attitude of the flight model.

The velocity vector calculator 140 calculates a velocity vector of the flight model by using three-axis position data of the converted latitude-longitude coordinate system.

That is, the velocity vector calculation unit 140 calculates the distance between three axis position data of the latitude-longitude altitude coordinate system converted according to the time change obtained while changing at a predetermined time interval, and calculates the three axes of the calculated latitude-longitude altitude coordinate system. The velocity vector of the flight model in the direction of longitude is calculated by dividing the distance between the position data by the travel time.

The acceleration vector calculator 150 calculates an acceleration vector of the flight model by using the calculated velocity vector of the flight model.

That is, the acceleration vector calculator 150 calculates the acceleration vector by dividing the calculated velocity vector of the flight model by the travel time, converts the acceleration vector into an acceleration vector on the BODY coordinate system, and uses the acceleration vector on the converted BODY coordinate system. The vertical acceleration vector perpendicular to is calculated and the lift acceleration vector and the horizontal acceleration vector are calculated based on the vertical acceleration vector.

The simulation posture information acquisition unit 160 acquires simulation posture information of the flight model based on the calculated 3-axis position data, the velocity vector, and the acceleration vector of the latitude and longitude coordinate system of the flight model.

That is, the simulation posture information obtaining unit 160 estimates the roll direction posture, the pitch direction posture and the yaw direction posture of the flight model.

2 is a view for explaining the detailed configuration of the speed vector calculation unit employed in the simulation posture estimation device of the flight model according to the present invention.

Referring to FIG. 2, the velocity vector calculator 140 calculates a velocity vector of a flight model using three-axis position data of the converted latitude-longitude coordinate system.

To this end, the velocity vector calculating unit 140 includes a latitude-longitude altitude position data arranging unit 141, a latitude-longitude altitude position data distance calculating unit 142, a velocity vector calculating unit 143, and a velocity vector converging unit 144. .

The latitude and longitude altitude position data arranging unit 141 collects and arranges three-axis position data on the latitude and longitude altitude coordinate system which is converted according to the time change acquired while changing at a predetermined time interval.

Since the latitude-longitude position data arranging unit 141 is not acquired at regular time intervals due to the influence of the data reception environment, the position data arranging unit 141 which is wirelessly collected has three axes for the latitude-longitude altitude coordinate system while changing the time interval constantly. Collect location data.

The latitude-longitude position data distance calculator 142 calculates a distance between three-axis position data with respect to the latitude-longitude coordinate system according to the arranged time change.

,

,

)의 비행 모델의 속도 벡터(

)를 계산한다. 이는 하기의 수식 1을 통해 계산된다.The velocity vector calculator 143 divides the distance between the three-axis position data of the calculated latitude-longitude coordinate system by the advancing time in the latitude-longitude direction (

,

,

Velocity vector of the flight model

Calculate This is calculated through Equation 1 below.

[Equation 1]

+

+

+

+

The velocity vector converging unit 144 converges the velocity vectors of the calculated flight model.

At this time, since the calculated velocity vectors of the flight model have a non-uniform vector direction due to noise and data errors, convergence is performed through the velocity vector converging unit 144. Here, the velocity vector converging unit 144 uses MovingAverage and Ransac as filters for converging the vectors, but is not limited thereto.

3 is a view for explaining the detailed configuration of the acceleration vector calculation unit employed in the simulation posture estimation device of the flight model according to the present invention.

Referring to FIG. 3, the acceleration vector calculator 150 calculates the acceleration vector of the flight model using the calculated velocity vector of the flight model.

To this end, the acceleration vector calculator 150 includes an acceleration vector calculator 151, an acceleration vector converter 152, a vertical acceleration vector calculator 153, a gravity acceleration vector calculator 154, and a lift acceleration vector calculator. 155 and a horizontal acceleration vector calculator 156.

)를 계산한다. 이는 하기의 수식 2를 통해 계산된다.The acceleration vector calculation unit 151 divides the calculated velocity vector of the flight model by the travel time to calculate the acceleration vector (

Calculate This is calculated through Equation 2 below.

[Formula 2]

+

+

)로 변환한다. 이는 하기의 수식 3을 통해 계산된다.The acceleration vector converting unit 152 converts the calculated acceleration vector using the acceleration vector on the BODY coordinate system using a coordinate transformation matrix.

To. This is calculated through Equation 3 below.

[Equation 3]

)

)

)와 Z축에 대한 가속도 벡터(

)를 이용하여 비행 모델에 수직하는 수직 가속도 벡터(

)를 산출한다. 이는 하기의 수식 4를 통해 계산된다.The vertical acceleration vector calculator 153 calculates an acceleration vector (for the Y axis on the transformed BODY coordinate system).

) And the acceleration vector for the Z axis (

Vertical acceleration vector perpendicular to the flight model using

) Is calculated. This is calculated through Equation 4 below.

[Equation 4]

+

+

)를 산출한다. The gravity acceleration vector calculator 154 uses the acceleration vector on the transformed BODY coordinate system to calculate the gravity acceleration vector (

) Is calculated.

)를 산출한다. 이는 하기의 수식 5를 통해 계산된다.The lift acceleration vector calculator 155 may use the lift acceleration vector based on the difference between the calculated vertical acceleration vector and the gravity acceleration vector (

) Is calculated. This is calculated through Equation 5 below.

[Equation 5]

The horizontal acceleration vector calculator 156 calculates a horizontal acceleration vector parallel to the horizontal plane on the converted BODY coordinate system. This is calculated through Equation 6 below.

[Equation 6]

4 is a view for explaining the detailed configuration of the simulation posture information acquisition unit employed in the simulation posture estimation device of the flight model according to the present invention.

Referring to FIG. 4, the simulated attitude information acquisition unit 160 according to the present invention provides simulation information of a flight model based on three-axis position data, a velocity vector, and an acceleration vector of a computed latitude-longitude coordinate system of the flight model. Acquire.

To this end, the simulated posture information acquisition unit 160 includes a roll direction attitude estimation unit 161, a pitch direction attitude estimation unit 162, and a yaw direction attitude estimation unit 163.

The roll direction attitude estimator 161 estimates the roll direction attitude of the flight model using a vertical acceleration vector perpendicular to the flight model and a horizontal acceleration parallel to the horizon. This is calculated through Equation 7 below.

[Formula 7]

The pitch direction attitude estimator 162 estimates the pitch direction attitude of the flight model by using three-axis position data of the latitude and longitude coordinate system of the flight model. This is calculated through Equation 8 below.

Equation 8

+

+

The yaw direction attitude estimator 163 estimates the yaw direction attitude of the flight model by using the sum of the latitude position data of the latitude and longitude coordinate system of the flight model, the latitude position data and the longitude position data of the latitude and longitude coordinate system of the flight model. do. This is calculated through Equation 9 below.

Equation 9

FIG. 5 is a flowchart illustrating a procedure of the simulation posture estimation method of the flight model according to the present invention, and FIG. 6 illustrates the position data of the XYZ coordinate system in the simulation posture estimation method of the flight model according to the latitude-longitude coordinate system. FIG. 7 is a view for explaining a process of converting into 3-axis position data, and FIG. 7 is a view for explaining a process of filtering an error or noise with respect to a latitude-longitude coordinate system converted in the simulation posture estimation method of a flight model according to the present invention. FIG. 8 is a view for explaining a process of calculating a velocity vector of a flight model by using three-axis position data of a latitude-longitude coordinate system converted in the simulation method of estimating a flight model according to the present invention. Based on the velocity vector of the flight model and the acceleration vector of the flight model A diagram for explaining a process of acquiring simulation posture information of a low-fly model.

Referring to FIG. 5, the simulation posture estimation method of the flight model according to the present invention uses the simulation posture estimation apparatus of the flight model described above, and a redundant description will be omitted.

First, a horizontal axis (X axis) and a vertical axis (Y axis) and a third axis (Z axis) perpendicular to the horizontal axis (X axis) and the vertical axis (Y axis) of the flight model collected from the radar or GPS receiver. Collecting position data for the XYZ coordinate system (S100).

Next, the position data for the collected X-Y-Z coordinate system is converted into three-axis position data for the latitude and longitude coordinate system (S110).

In step S110, after converting the position data of the NED coordinate system by applying the azimuth angle to the collected position data for the XYZ coordinate system, the initial firing position value is applied to the position data of the converted NED coordinate system. To 3-axis position data for the latitude-longitude coordinate system.

Next, as illustrated in FIG. 7, the error or noise is filtered on the converted latitude-longitude coordinate system (S120).

Next, as shown in FIG. 8, the velocity vector of the flight model is calculated using the three-axis position data of the converted latitude-longitude coordinate system (S130).

In more detail, in step S130, the 3-axis position data of the latitude-longitude coordinate system which is converted according to the time change obtained while changing at a predetermined time interval is collected and arranged, and the 3-axis position of the latitude-longitude coordinate system according to the arranged time change. Compute the distance between the data, calculate the velocity vector of the flight model in the direction of the longitude altitude by dividing the distance between the three-axis position data with respect to the latitude and longitude coordinate system, and converge the velocity vector of the calculated flight model. It is through the process.

Next, the acceleration vector of the flight model is calculated using the calculated velocity vector of the flight model (S140).

In step S140, the acceleration vector is calculated by dividing the calculated velocity vector by the traveling time, converting the calculated acceleration vector into an acceleration vector on a BODY coordinate system using a coordinate transformation matrix, and Y on the transformed BODY coordinate system. A vertical acceleration vector perpendicular to the flight model is calculated using the acceleration vector on the axis and the acceleration vector on the Z axis, and the gravity acceleration vector of the flight model is calculated using the acceleration vector on the transformed BODY coordinate system. After the lift acceleration vector is calculated based on the difference between the acceleration vector and the gravity acceleration vector, a horizontal acceleration vector parallel to the horizontal plane is calculated on the transformed BODY coordinate system.

Finally, simulation position information of the flight model is obtained based on the three-axis position data, the velocity vector, and the acceleration vector of the computed latitude and longitude coordinate system of the flight model (S150).

In step S150, the attitude of the roll model of the flight model is estimated by using a vertical acceleration vector perpendicular to the flight model and a horizontal acceleration parallel to the plane, and using three-axis position data of the latitude and longitude coordinate system of the flight model. The pitch direction attitude of the flight model is estimated, and the yaw of the flight model is obtained by using the sum of the latitude position data of the latitude and longitude coordinate system of the flight model, the latitude position data and the longitude position data of the latitude and longitude coordinate system of the flight model. ) Estimate the orientation attitude.

As described above, the simulation position estimation apparatus and method of the flight model according to the present invention converts the position data of the XYZ coordinate system of the flight model collected from the radar or GPS receiver into three-axis position data of the latitude and longitude coordinate system, and then the flight model. By calculating the velocity vector and the acceleration vector of the model and acquiring the simulation information of the flight model based on the calculated velocity vector and the acceleration vector of the flight model, the positional accuracy is greatly increased according to the radar arrangement or the receiver sensitivity of the GPS receiver. Even if it changes, the attitude of the flight model can be approximated.

The functional operations described herein and the embodiments relating to the subject matter are implemented in digital electronic circuitry or computer software, firmware or hardware, including the structures disclosed herein and their structural equivalents, or in combination with one or more of them. It is possible.

Embodiments of the subject matter described herein include one or more computer program instructions, ie one or more computer program instructions that are encoded on a tangible program medium for execution by an information processing apparatus or for operating the operations thereof. It can be implemented as a module. The tangible program medium may be a propagated signal or a computer readable medium. A propagated signal is an artificially generated signal such as a machine generated electrical, optical or electromagnetic signal that is generated to encode information for transmission to a suitable receiver device for execution by a computer. The computer readable medium may be a machine readable storage device, a machine readable storage substrate, a memory device, a combination of materials affecting a machine readable propagated signal, or a combination of one or more of them.

Computer programs (also known as programs, software, software applications, scripts, or code) may be written in any form of programming language, including compiled or interpreted languages, or a priori or procedural languages. It can be deployed in any form, including components, subroutines, or other units suitable for use in a computer environment.

The computer program does not necessarily correspond to a file of the file device. A program may be in a single file provided to the requested program, or in multiple interactive files (eg, one or more files that store modules, subprograms, or parts of code), or of other files or files that hold information. Some (eg, one or more stored in a markup language document) may be stored within.

The computer program may be deployed to run on a single computer or on multiple computers located at one site or distributed across multiple sites and interconnected by a communication network.

In addition, the logic flows and structural block diagrams described in this patent document describe corresponding acts and / or specific methods supported by the corresponding functions and steps supported by the disclosed structural means, corresponding It can also be used to build software structures and algorithms and their equivalents.

The processes and logic flows described herein are capable of being performed by one or more programmable processors that execute one or more computer programs to perform functions by operating on input information and generating output.

Processors suitable for the execution of computer programs include, for example, both general and special purpose microprocessors and any one or more of any kind of digital computer. In general, a processor will receive instructions and information from a read only memory or a random access memory or both.

At the heart of a computer is one or more memory devices and processors for storing instructions and information for storing instructions and information. In addition, computers are generally such that one or more for storing information, such as magnetic, magneto-optical disks or optical disks, are operable to receive information from, transmit information to, or perform both of these operations. Combined or will include it. However, the computer does not need to have such a device.

The foregoing description presents the best mode of the invention, and provides examples to illustrate the invention and to enable those skilled in the art to make and use the invention. The specification thus produced is not intended to limit the invention to the specific terms presented.

Thus, while the present invention has been described in detail with reference to the above examples, those skilled in the art can make modifications, changes, and variations to the examples without departing from the scope of the invention. In short, in order to achieve the intended effect of the present invention, it is not necessary to separately include all the functional blocks shown in the drawings or to follow all the orders shown in the drawings in the order shown; Note that it may fall within the scope.

100: simulated posture estimation device of the flight model
110: location data collection unit
120: position data conversion unit
130: signal processing filtering unit
140: speed vector calculation unit
150: acceleration vector calculation unit
160: simulated posture information acquisition unit

Claims (14)

Collect position data for an XYZ coordinate system that includes a horizontal axis (X axis) and a vertical axis (Y axis) and a third axis (Z axis) perpendicular to the horizontal axis (X axis) and the vertical axis (Y axis) of the flight model. Location data collection;
A position data converter for converting the collected position data for the XYZ coordinate system into three-axis position data for the latitude and longitude coordinate system;
A velocity vector calculator configured to calculate a velocity vector of the flight model using three-axis position data of the converted latitude-longitude coordinate system;
An acceleration vector calculator configured to calculate an acceleration vector of the flight model using the calculated velocity vector of the flight model; And
And a simulation posture information acquisition unit for obtaining simulation posture information of the flight model based on the calculated three-axis position data, the velocity vector, and the acceleration vector of the latitude and longitude coordinate system of the flight model.
The velocity vector calculator includes a velocity vector converging unit for converging the calculated velocity vector of the flight model. The method of claim 1,
The position data converter,
A first converter converting the position data of the collected XYZ coordinate system into position data of the NED coordinate system by applying an azimuth angle; And
A second converter converting the position data of the converted NED coordinate system into three-axis position data of the latitude-longitude coordinate system by applying an initial firing position value;
Simulated posture estimation device of a flight model, comprising a. The method of claim 1,
And a signal processing filtering unit for filtering an error or noise with respect to the converted latitude-longitude coordinate system. The method of claim 1,
The speed vector calculation unit,
A latitude-longitude position data arranging unit for collecting and arranging three-axis position data of a latitude-longitude coordinate system converted according to a time change obtained while changing at a predetermined time interval;
A latitude-longitude position data distance calculator for calculating a distance between three-axis position data with respect to the latitude-longitude coordinate system according to the arranged time change; And
A velocity vector calculator configured to calculate a velocity vector of the flight model in the direction of the latitude-longitude by dividing the calculated distance between the three-axis position data with respect to the latitude-longitude coordinate system by a running time;
Simulated posture estimation device of a flight model, comprising a. delete The method of claim 1,
The acceleration vector calculation unit,
An acceleration vector calculator configured to calculate an acceleration vector by dividing the calculated velocity vector by a flight time;
An acceleration vector converting unit converting the calculated acceleration vector into an acceleration vector on a BODY coordinate system using a coordinate transformation matrix;
A vertical acceleration vector calculator configured to calculate a vertical acceleration vector perpendicular to the flight model using the acceleration vector on the Y axis and the acceleration vector on the Z axis on the transformed BODY coordinate system;
A gravitational acceleration vector calculation unit configured to calculate a gravitational acceleration vector of the flight model using the acceleration vector on the transformed BODY coordinate system;
A lift acceleration vector calculator configured to calculate a lift acceleration vector based on the difference between the calculated vertical acceleration vector and the gravity acceleration vector; And
A horizontal acceleration vector calculator configured to calculate a horizontal acceleration vector parallel to the horizontal plane on the transformed BODY coordinate system;
Simulated posture estimation device of a flight model, comprising a. The method of claim 1,
The simulation posture information acquisition unit,
A roll direction attitude estimator for estimating a roll direction attitude of the flight model using a vertical acceleration vector perpendicular to the flight model and a horizontal acceleration parallel to the horizon;
A pitch direction attitude estimator for estimating a pitch direction attitude of the flight model using three-axis position data of a latitude and longitude coordinate system of the flight model; And
A yaw direction attitude estimator for estimating a yaw direction attitude of the flight model by using a sum of latitude position data of the latitude and longitude coordinate system of the flight model, latitude position data and longitude position data of the latitude and longitude coordinate system of the flight model;
Simulated posture estimation device of a flight model, comprising a. An XYZ coordinate system including a horizontal axis (X axis) and a vertical axis (Y axis) and a third axis (Z axis) perpendicular to the horizontal axis (X axis) and the vertical axis (Y axis) of the flight model by the position data collection unit. Collecting location data for the;
Converting, by the position data converter, position data on the collected XYZ coordinate system into 3-axis position data on the latitude and longitude coordinate system;
Calculating, by the velocity vector calculator, a velocity vector of the flight model using three-axis position data of the converted latitude-longitude coordinate system;
Calculating, by the acceleration vector calculator, an acceleration vector of the flight model using the calculated velocity vector of the flight model; And
And, by the simulation posture information obtaining unit, simulating posture information of the flight model based on the calculated 3-axis position data, velocity vector, and acceleration vector of the latitude and longitude coordinate system of the flight model.
The calculating of the velocity vector of the flight model using the three-axis position data of the converted latitude-longitude coordinate system includes the step of converging the calculated velocity vector of the flight model. . The method of claim 8,
Converting the position data for the collected XYZ coordinate system into 3-axis position data for the latitude and longitude coordinate system,
Converting the position data of the collected XYZ coordinate system into position data of the NED coordinate system by applying an azimuth angle; And
Converting the position data of the converted NED coordinate system into three-axis position data of the latitude-longitude coordinate system by applying an initial firing position value;
Simulated posture estimation method of a flight model comprising a. The method of claim 8,
After converting the collected position data for the XYZ coordinate system to 3-axis position data for the latitude and longitude coordinate system,
The method of claim 3, further comprising filtering an error or noise with respect to the converted latitude and longitude coordinate system. The method of claim 8,
Computing the velocity vector of the flight model using the 3-axis position data of the converted latitude-longitude coordinate system,
Collecting and arranging three-axis position data of the latitude and longitude coordinate system converted according to the time change obtained while changing at a preset time interval;
Calculating a distance between three-axis position data with respect to the latitude and longitude coordinate system according to the arranged time change; And
Calculating a velocity vector of the flight model in the direction of the latitude-longitude by dividing the distance between the three-axis position data with respect to the calculated latitude-longitude coordinate system by the traveling time;
Simulated posture estimation method of a flight model comprising a. delete The method of claim 8,
Calculating the acceleration vector of the flight model using the calculated velocity vector of the flight model,
Calculating an acceleration vector by dividing the calculated velocity vector by a traveling time;
Converting the calculated acceleration vector into an acceleration vector on a BODY coordinate system using a coordinate transformation matrix;
Calculating a vertical acceleration vector perpendicular to the flight model using the acceleration vector on the Y axis and the acceleration vector on the Z axis on the transformed BODY coordinate system;
Calculating a gravity acceleration vector of the flight model using the acceleration vector on the transformed BODY coordinate system;
Calculating a lift acceleration vector based on the difference between the calculated vertical acceleration vector and the gravity acceleration vector; And
Calculating a horizontal acceleration vector parallel to the horizontal plane on the transformed BODY coordinate system;
Simulated posture estimation method of a flight model comprising a. The method of claim 8,
Acquiring simulation information of the flight model based on three-axis position data, a velocity vector, and an acceleration vector of the computed latitude and longitude coordinate system of the flight model may include:
Estimating a roll direction attitude of the flight model using a vertical acceleration vector perpendicular to the flight model and a horizontal acceleration parallel to the horizon;
Estimating a pitch direction attitude of the flight model using three-axis position data of the latitude and longitude coordinate system of the flight model; And
Estimating the yaw direction attitude of the flight model using the sum of the latitude position data of the latitude and longitude coordinate system of the flight model, the latitude position data and the longitude position data of the latitude and longitude coordinate system of the flight model;
Simulated posture estimation method of a flight model comprising a.

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