KR102193905B1 - Method for flight control of fixed wing unmanned aerial vehicle, system for weather observation using the same, and computing device for executing the same - Google Patents

Abstract

Disclosed are a method for controlling flight of a fixed-wing unmanned aerial vehicle, a system for observing weather using the same, and a computing device for performing the same. According to one embodiment, the disclosed system for observing weather performs weather observation by using the fixed-wing unmanned aerial vehicle. The system for observing weather includes a navigation control device collecting weather-related data in a flight area to be observed in which the fixed-wing unmanned aerial vehicle is to fly, and generating flight control information for controlling the flight of the fixed-wing unmanned aerial vehicle based on the collected weather-related data. Therefore, the system for observing weather can reduce damage caused by falling even when the fixed-wing unmanned aerial vehicle falls.

Description

Flight control method of fixed-wing unmanned aerial vehicle, meteorological observation system using the same, and computing device for performing the same.

An embodiment of the present invention relates to a weather observation technology using a fixed-wing unmanned aerial vehicle.

Recently, the necessity of real-time high altitude weather observation is increasing due to climate change and air pollution such as fine dust. Previously, radiosonde was used for high altitude weather observation, but radiosonde freely moves upwards due to buoyancy and wind, so continuous and accurate weather observation at a specific altitude is impossible for purpose observation. In addition, radiosonde is made of plastic, latex rubber, batteries, electronic components, etc., but it is not recoverable, so economical efficiency is low and the risk of environmental pollution is high.

Accordingly, a rotorcraft unmanned aerial vehicle (i.e., a rotorcraft drone) is being introduced as a high-rise meteorological equipment that can complement and replace Radiosonde.However, a rotorcraft drone has a high weight (approximately 12kg), and if it falls during a mission flight in a bad weather, the fall impact amount It is large and has a risk of falling, which limits the performance of missions in bad weather such as turbulence.

Korean Registered Patent Publication No. 10-1103846 (2012.01.12)

In the disclosed embodiment, it is to provide a new technique capable of performing weather observation using a fixed wing unmanned aerial vehicle.

A meteorological observation system according to an embodiment disclosed is a system for performing weather observation using a fixed-wing unmanned aerial vehicle, the system collecting and collecting weather-related data of an observation target air area in which the fixed-wing unmanned aerial vehicle will fly And a navigation control device that generates flight control information for controlling the flight of the fixed-wing unmanned aerial vehicle based on one weather-related data.

The navigation control device includes: a data collection unit configured to collect weather-related data of the aviation area to be observed; A wind velocity field analysis unit that calculates wind velocity field data of the aviation area to be observed based on the weather-related data; And a flight mode setting unit for setting a flight mode of the fixed wing unmanned aerial vehicle according to the wind speed of the wind velocity field data.

The wind velocity field analysis unit divides the observation target flight area into a preset unit grid region, calculates the wind velocity field data for each unit grid region, and the flight mode setting unit comprises: the wind velocity for each unit grid region. According to this, the flight mode of the fixed wing unmanned aerial vehicle may be set.

The flight mode setting unit may set the flight mode to a forward flight mode or an exhaust flight mode according to whether the wind speed is greater than or equal to a preset forward flight limit speed.

The flight mode setting unit may check whether or not the wind speed of the wind is equal to or greater than a preset forward flight limit speed by Equations 1 and 2 below.

(Equation 1)

(Equation 2)

V _wind : wind speed

V _max : The maximum speed of a fixed-wing drone

V _stall : stall speed of a fixed wing drone

W: Weight of fixed-wing drone

C: lift coefficient

ρ: density of air

S: The area of the wing of a fixed-wing drone

The flight mode setting unit may set the flight mode to an exhaust flight mode when the wind speed is higher than a preset forward flight limit speed, and set the flight mode to a forward flight mode when the wind speed is less than a preset forward flight limit speed. I can.

The navigation control device may further include a flight path setting unit configured to search for a flight path so that the fixed-wing unmanned aerial vehicle flies along a wind path in the observation target aviation area when the flight mode is an exhaust flight mode.

The flight path setting unit may check the meteorological phenomenon of the observation target aerial area, extract an airflow pattern corresponding to the meteorological phenomenon among pre-stored airflow patterns, and a flight node corresponding to a unit grid area of the observation target aerial area A flight path most similar to the streamlined flow of the extracted airflow pattern may be extracted among flight paths by the air flow pattern, and the extracted flight path may be set as a flight path of the fixed-wing unmanned aerial vehicle.

The flight path setting unit extracts flight nodes having a minimum root mean square error and a streamline flow of the extracted airflow pattern among flight nodes in the observation target aerial area, and the fixed-wing unmanned aerial vehicle based on the extracted set of flight nodes You can set the flight path.

A method for controlling flight of a fixed-wing unmanned aerial vehicle according to the disclosed embodiment is performed in a computing device having one or more processors and a memory storing one or more programs executed by the one or more processors, and performs weather observation. A method for controlling a flight of a fixed-wing unmanned aerial vehicle, comprising: collecting weather-related data of an observation target air area in which the fixed-wing unmanned aerial vehicle will fly; Calculating wind velocity data of the aerial area to be observed based on the weather-related data; And setting a flight mode of the fixed wing unmanned aerial vehicle according to the wind speed of the wind velocity field data.

The calculating of the wind velocity field data may include dividing the observation target aerial area into a predetermined unit grid area; And calculating the wind velocity field data for each unit grid region, wherein the setting of the flight mode may set a flight mode of the fixed wing unmanned aerial vehicle according to the wind speed for each unit grid region.

In the step of setting the flight mode, the flight mode may be set to a forward flight mode or an exhaust flight mode according to whether the wind speed is equal to or greater than a preset forward flight limit speed.

In the step of setting the flight mode, whether or not the wind speed of the wind is equal to or greater than a preset forward flight limit speed may be checked by Equations 1 and 2 below.

(Equation 1)

(Equation 2)

V _wind : wind speed

V _max : The maximum speed of a fixed-wing drone

V _stall : stall speed of a fixed wing drone

W: Weight of fixed-wing drone

C: lift coefficient

ρ: density of air

S: The area of the wing of a fixed-wing drone

The step of setting the flight mode may include setting the flight mode to an exhaust flight mode when the wind speed is greater than or equal to a preset forward flight limit speed; And setting the flight mode to a forward flight mode when the wind speed is less than a preset forward flight limit speed.

The flight control method of the fixed-wing unmanned aerial vehicle may further include searching for a flight path so that the fixed-wing unmanned aerial vehicle flies along a wind path in the observation target air area when the flight mode is an exhaust air flight mode.

The searching of the flight path may include: checking a meteorological phenomenon in the aerial area to be observed; Extracting an airflow pattern corresponding to the meteorological phenomenon from among previously stored airflow patterns; Extracting a flight path most similar to the streamlined flow of the extracted airflow pattern among flight paths by flight nodes corresponding to the unit grid area of the observation target aerial area; And setting the extracted flight path as the flight path of the fixed wing unmanned aerial vehicle.

The searching of the flight path may include: extracting flight nodes having a minimum root mean square error and a streamlined flow of the extracted airflow pattern among flight nodes of the aerial area to be observed; And setting a flight path of the fixed wing unmanned aerial vehicle based on the extracted set of flight nodes.

A computing device according to the disclosed embodiment includes: one or more processors; Memory; And one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs are weather-related in the aviation area to be observed in which the fixed-wing unmanned aerial vehicle will fly. Instructions to collect data; An instruction for calculating wind velocity field data of the aerial area to be observed based on the weather-related data; And a command for setting a flight mode of the fixed wing unmanned aerial vehicle according to the wind speed of the wind velocity field data.

In the disclosed embodiment, by performing weather observation through a fixed-wing unmanned aerial vehicle that is lighter than that of a rotary-wing unmanned aerial vehicle, even if the fixed-wing unmanned aerial vehicle falls, it is possible to reduce damage caused by a fall. In addition, by setting the flight path through the airflow pattern even on the bad weather, it is possible to perform weather observation while flying in turbulence even on the bad weather, and accordingly, there are fewer restrictions on mission performance.

1 is a view showing the configuration of a weather observation system using a fixed-wing unmanned aerial vehicle according to an embodiment of the present invention
Figure 2 is a view showing the force received by the flying device
3 is a view for explaining the relationship between the angle of attack and lift in the flight device
FIG. 4 is a diagram schematically illustrating a state in which an observation target aviation area is divided into a direct wind flight area or an exhaust wind flight area based on wind velocity data in the disclosed embodiment
5 is a view schematically showing airflow patterns of various meteorological phenomena in the disclosed embodiment
6 is a diagram schematically showing a process of searching for an optimal flight path in an embodiment of the present invention
7 is a view showing the configuration of a fixed wing unmanned aerial vehicle according to an embodiment of the present invention
8 is a flow chart showing a flight control method of a fixed wing unmanned aerial vehicle according to an embodiment of the present invention
9 is a block diagram illustrating and describing a computing environment including a computing device suitable for use in example embodiments.

Hereinafter, a specific embodiment of the present invention will be described with reference to the drawings. The following detailed description is provided to aid in a comprehensive understanding of the methods, devices, and/or systems described herein. However, this is only an example and the present invention is not limited thereto.

In describing the embodiments of the present invention, when it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention and may vary according to the intention or custom of users or operators. Therefore, the definition should be made based on the contents throughout this specification. The terms used in the detailed description are only for describing embodiments of the present invention, and should not be limiting. Unless explicitly used otherwise, expressions in the singular form include the meaning of the plural form. In this description, expressions such as "comprising" or "feature" are intended to refer to certain features, numbers, steps, actions, elements, some or combination thereof, and one or more other than those described. It should not be construed to exclude the presence or possibility of other features, numbers, steps, actions, elements, any part or combination thereof.

In the following description, "transmission", "communication", "transmission", "reception" of signals or information, and other terms having a similar meaning are not only directly transmitted signals or information from one component to another component. It includes what is passed through other components. In particular, "transmitting" or "transmitting" a signal or information to a component indicates the final destination of the signal or information and does not imply a direct destination. The same is true for "reception" of signals or information. In addition, in the present specification, when two or more pieces of data or information are "related", it means that when one data (or information) is obtained, at least a part of other data (or information) can be obtained based thereon.

Meanwhile, directional terms such as upper side, lower side, one side, and the other side are used in relation to the orientation of the disclosed drawings. Since the constituent elements of the embodiments of the present invention may be positioned in various orientations, the directional terminology is used for illustrative purposes, but is not limited thereto.

In addition, terms such as first and second may be used to describe various components, but the components should not be limited by the terms. These terms may be used for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component.

In the disclosed embodiment, high-rise weather can be observed using a fixed-wing unmanned aerial vehicle. Fixed-wing unmanned aerial vehicles are lighter in weight than rotary-wing unmanned aerial vehicles (rotary-wing drones) (for example, they can be manufactured with less than 2kg), so the risk of free fall is low, and even if they fall, the impact of falling due to downhill landing is small. The advantage is that there are few restrictions.

Meanwhile, fixed-wing unmanned aerial vehicles are highly affected by wind. For example, it is difficult to fly forward when receiving a headwind (head wind) that exceeds the range of thrust that can be generated by a fixed-wing UAV, and stable flight when receiving a crosswind (wind shear) that exceeds the range of the resilience of a fixed-wing UAV. This becomes difficult.

However, knowing the wind path (airflow pattern) allows fixed-wing drones to fly in turbulence. In the embodiment disclosed herein, a fixed-wing unmanned aerial vehicle is performed by analyzing the characteristics of airflow patterns of bad weather stars (eg, mobile cyclones, typhoons, warm fronts, cold fronts, mountain winds, etc.) and applying computational fluid dynamics (CFD). You can explore the optimal flight path.

1 is a view showing the configuration of a weather observation system using a fixed-wing unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 1, the weather observation system 100 may include a navigation control device 102 and a fixed wing unmanned aerial vehicle 104. The navigation control device 102 and the fixed wing unmanned aerial vehicle 104 may be communicatively connected through a communication network 150.

In some embodiments, communication network 150 is the Internet, one or more local area networks, wide area networks, cellular networks, mobile networks, other types of networks, or such networks. It may contain a combination of.

The navigation control device 102 may pre-generate flight control information including an optimal flight path for an air area to be observed by the fixed wing unmanned aerial vehicle 104. In an exemplary embodiment, the navigation control device 102 may generate flight control information for an air area to be observed by the fixed-wing unmanned aerial vehicle 104 before flying the fixed-wing unmanned aerial vehicle 104. The flight control information may include flight mode information and flight path information. Then, the fixed wing unmanned aerial vehicle 104 may fly according to the flight control information set by the navigation control device 102.

Here, the navigation control device 102 may control the fixed-wing unmanned aerial vehicle 104 in real time to fly according to the flight control information, and transmit the flight control information to the fixed-wing unmanned aerial vehicle 104 so that the fixed-wing unmanned aerial vehicle 104 flies. It can also be made to fly according to control information.

In another embodiment, the navigation control device 102 generates flight control information in real time after flying the fixed wing unmanned aerial vehicle 104, and controls the fixed wing unmanned aerial vehicle 104 according to the generated flight control information or generated flight control. The information can be transmitted to the fixed wing unmanned aerial vehicle 104.

On the other hand, the navigation control device 102 may be installed on the ground separately from the fixed-wing unmanned aerial vehicle 104 and connected to the fixed-wing unmanned aerial vehicle 104 to be communicatively connected, but is not limited thereto and may be mounted on the fixed-wing unmanned aerial vehicle 104 have. That is, the fixed wing unmanned aerial vehicle 104 may perform the function of the navigation control device 102.

The navigation control device 102 may include a data collection unit 111, a wind velocity analysis unit 113, a flight mode setting unit 115, and a flight path setting unit 117.

In addition, in one embodiment, the data collection unit 111, the wind velocity analysis unit 113, the flight mode setting unit 115, and the flight path setting unit 117 are physically separated using one or more devices. It may be implemented or implemented by one or more processors, or a combination of one or more processors and software, and unlike the illustrated example, it may not be clearly distinguished in a specific operation.

The data collection unit 111 may collect weather-related data on an aviation area (hereinafter, referred to as an observation target aviation area) in which the fixed-wing unmanned aerial vehicle 104 will perform meteorological observations. Weather-related data may include weather observation data (eg, Automatic Weather System (AWS) data, etc.) and weather prediction data (eg, Global Data Assimilation and Prediction System (GDAPS) data, etc.). The weather-related data may include information on wind speed and wind direction according to the air pressure altitude in the air region to be observed, air pressure according to the altitude, temperature, and humidity.

The data collection unit 111 may periodically collect weather-related data from the Meteorological Administration server (not shown). For example, the data collection unit 111 may collect meteorological observation data from the Meteorological Administration server (not shown) every minute. In addition, the data collection unit 111 may collect weather forecast data from the Meteorological Administration server (not shown) every 3 hours. Such weather-related data may be provided in units of 5km×5km×5km. However, the present invention is not limited thereto, and the data collection unit 111 may collect weather-related data from servers of other external organizations.

The wind velocity field analysis unit 113 may calculate wind velocity field data of an aviation area to be observed based on weather-related data. In an exemplary embodiment, the wind velocity field analysis unit 113 may calculate the three-dimensional wind velocity field data of the aviation area to be observed by substituting the weather-related data into an air flow analysis numerical model such as Computational Fluid Dynamics (CFD). . The 3D wind velocity field data may include information on wind speed and direction of the wind.

Specifically, the wind velocity field analyzer 113 may divide the aerial area to be observed into a preset unit grid area. For example, the unit grid area may be 10m×10m×10m, but is not limited thereto. The wind velocity field analysis unit 113 may calculate wind velocity field data for each unit grid area. That is, the weather-related data is data in units of a 5km×5km×5km area, but the wind velocity field analysis unit 113 subdivides the aviation area to be observed into a unit grid area of 10m×10m×10m, and wind velocity for each unit grid area. Chapter data can be calculated.

The flight mode setting unit 115 may set the flight mode of the fixed wing unmanned aerial vehicle 104 based on wind velocity data. The flight mode setting unit 115 may set the flight mode to a forward flight mode or an exhaust flight mode according to whether the wind speed of the wind included in the wind velocity field data is greater than or equal to a preset forward flight limit speed.

Specifically, the flight mode setting unit 115 may set the flight mode of the fixed-wing unmanned aerial vehicle 104 as the direct wind flight mode when the wind speed is less than the preset forward flight limit speed. The flight mode setting unit 115 may set the flight mode of the fixed-wing unmanned aerial vehicle 104 to the exhaust flight mode when the wind speed is greater than or equal to a preset fixed wind flight limit speed. Here, the forward wind flight mode may mean a mode in which the fixed-wing unmanned aerial vehicle 104 flies while hitting a forward wind (upwind). In addition, the exhaust air flight mode may mean a mode in which the fixed-wing unmanned aerial vehicle 104 flies while receiving the exhaust air (backwind).

As shown in FIG. 2, the flying device receives lift, gravity, thrust, and drag while flying. Here, the amount of lift is determined by the air speed, the shape of the wing, and the angle of attack. Assuming that the air velocity and the shape of the blade are constant, the relationship between the lift force and the angle of attack is as shown in FIG. 3.

Referring to FIG. 3, as the angle of attack increases, the lift also increases, and when the angle of attack exceeds the critical angle, it can be seen that the lift rapidly decreases. In this case, the flight device stalls and a fall occurs.

That is, when the flying device flies, the air flow from the front of the upper surface of the wing flows along the wing surface, but at the rear of the upper surface of the wing, kinetic energy gradually loses due to friction on the surface of the wing, and the speed decreases. In addition, as the air flow around the wing increases in the flow direction, the air flow does not flow along the wing surface and falls off the wing surface due to a reverse pressure gradient, and this is referred to as flow separation.

Here, as the angle of attack increases, the flow separation phenomenon increases, and when the angle of attack exceeds the critical angle, most of the upper surface of the wing is locked in the wake, the lift force falls, and the drag falls into a stall state where the drag increases rapidly. Therefore, if the flying device flies at a slower speed than the minimum speed or the angle of attack is too large, the lift force becomes smaller than the weight of the flying device and falls. This phenomenon occurs even when the flying device fails to overcome the head wind and flies at a speed slower than the minimum speed.

Accordingly, in the disclosed embodiment, when the wind speed is less than the preset forward flight limit speed, the flight mode of the fixed wing unmanned aerial vehicle 104 is set to the forward wind flight mode to freely fly to the waypoint, and When the wind speed is higher than the preset forward flight limit speed, the flight mode of the fixed wing unmanned aerial vehicle 104 is set to the exhaust air flight mode to prevent the fixed wing unmanned aerial vehicle 104 from falling into a stall state, and the searched wind path ) To fly along.

That is, when the wind speed is higher than the preset forward flight limit speed, the fixed wing unmanned aerial vehicle 104 switches the flight mode of the fixed wing unmanned aerial vehicle 104 from the forward wind flight mode to the exhaust air flight mode so that the fixed wing unmanned aerial vehicle 104 flies with the rear wind. It is possible to change the orientation and posture of the airplane 104. Here, since the exhaust air flight mode is a flight mode in which the wind blows along the wind path while being hit by the rear wind, it is necessary to search for an optimal flight path for flying along the wind path. This will be described in detail in the flight path setting unit 117.

The flight mode setting unit 115 may check whether the wind speed of the wind is less than the forward flight limit speed through Equation 1 below.

(Equation 1)

Here, V _wind represents the wind speed, V _max represents the maximum speed of the fixed wing unmanned aerial vehicle 104, and V _stall represents the stall speed of the fixed wing unmanned aerial vehicle 104.

The stall speed (V _stall ) of the fixed wing unmanned aerial vehicle 104 can be calculated through Equation 2 below.

(Equation 2)

Here, W is the weight of the fixed wing unmanned aerial vehicle 104, C is the lift coefficient, ρ represents the density of air, and S represents the area of the wing of the fixed wing unmanned aerial vehicle 104.

In an exemplary embodiment, the flight mode setting unit 115 may set the flight mode for each unit grid area of the aerial area to be observed. That is, the flight mode setting unit 115 checks whether the wind speed of each unit grid area of the observation target flight area is less than the preset forward flight limit speed, and sets the flight mode of the fixed wing unmanned aerial vehicle 104 to the forward flight. It can be set to either a mode or an exhaust flight mode.

In other words, the flight mode setting unit 115 determines whether the corresponding area for each unit grid area of the observation target flight area is an area to be flown in the direct wind flight mode (a direct wind flight area) or an area to be flown in the exhaust air mode (exhaust flight area). Can be determined.

4 is a diagram schematically illustrating a state in which an observation target air area is divided into a forward air flight area or an exhaust air flight area based on wind velocity data in the disclosed embodiment.

Referring to FIG. 4, an area in which the wind speed according to the wind velocity data is less than the forward flight limit speed is divided into a forward flight area, and an area where the wind speed is higher than the forward flight limit speed is divided into an exhaust flight area. And, in the forward flight area, the fixed-wing unmanned aerial vehicle 104 flies toward a preset waypoint in the forward wind flight mode, but in the exhaust flight area, the fixed-wing drone 104 flies along the previously searched wind path in the exhaust flight mode. Is done.

The flight path setting unit 117 may search for a flight path so that the fixed wing unmanned aerial vehicle 104 flies along a wind path when the flight mode of the fixed wing unmanned aerial vehicle 104 is the exhaust flight mode. When the unit grid region is referred to as one flight node, the flight path setting unit 117 may search through which flight nodes is an optimal flight path in the unit grid regions within the observation target aerial region.

Meanwhile, the wind velocity field data was calculated by subdividing the meteorological data in a unit of 5km×5km×5km into a unit grid area of 10m×10m×10m in the wind velocity field analysis unit 113, and calculated the wind velocity field data. There are 1.25×10 ⁹ flight nodes (unit grid area) in the area unit of. In this case, since the number of flight nodes to be considered in the flight path setting unit 117 increases, complexity increases in searching for an optimal flight path, and the computation speed is slowed.

Accordingly, in the disclosed embodiment, it is possible to simplify the flight path search by using the airflow pattern for each meteorological phenomenon. That is, most meteorological phenomena occur in the troposphere (1 to 10 km), and the troposphere is divided into a surface layer of 0 to 100 m and an atmospheric boundary layer of 1 to 2 km. Here, since the altitude at which the fixed-wing UAV 104 can fly is limited to the atmospheric boundary layer, airflow patterns can be modeled and stored for meteorological phenomena that may occur in the atmospheric boundary layer.

In general, at an altitude of 1km, the airflow is complicatedly deformed due to the frictional characteristics of the ground, and above that, it is considered that a geokinetic wind blows. Here, the jigyun wind may be defined by Equation 3 below.

(Equation 3)

Here, Ω is the rotational angular velocity of the earth, φ is the latitude, and ρ is the density of air.

And, at an altitude of less than 1km, various local winds (sea wind, land wind, lake wind, grain wind, mountain wind, etc.) blow. Local winds are caused by differences in air temperature appearing on the surface of the ground.

5 is a diagram schematically illustrating an airflow pattern of various meteorological phenomena in the disclosed embodiment. Figure 5 (a) shows the airflow pattern of the cold front, Figure 5 (b) shows the airflow pattern of the warming wire, and Figure 5 (c) shows the airflow pattern when the jigyun wind passes a mountain range 5(d) shows the airflow pattern of convection caused by radiation, FIG.5(e) shows the airflow pattern when the sea wind blows, and FIG.5(f) shows the airflow due to the reversal of upper air temperature It shows the pattern.

Here, the airflow pattern of each meteorological phenomenon can be numerically converted using an atmospheric motion equation. Specifically, Newton's second law of motion is a law of motion in an absolute coordinate system or an inertial system, and is defined by Equation 4.

(Equation 4)

Assuming that the mass of an object does not change over time, the force (F) acting on the object is related to the generated acceleration (a). When several forces act on an object, the object is accelerated in the direction in which the total resultant force acts. Therefore, the motion acceleration in the inertial system can be expressed as the sum of the motion acceleration in the rotation coordinate system, the forward acceleration caused by the motion in the rotation coordinate system, and the centripetal acceleration caused by the rotation of the rotation coordinate system.

When Newton's second law is applied to the force acting on the atmosphere, it can be expressed as Equation 5 below.

(Equation 5)

와

에서 첫 번째 항은 기압 경도력이고, 두 번째 항은 전향력이며, 세 번째 항은 마찰력을 나타낸다. 또한, 수학식 5의

에서 첫 번째 항은 연직 기압 경도력을 나타낸다. p는 압력을 나타내고, ρ는 공기 밀도를 나타내며, g는 중력 가속도를 나타내고, Ω는 지구 자전 속도를 나타내고, φ는 위도를 나타낸다. u는 수평 운동 성분을 나타내고, v는 연직 운동 성분을 나타낸다.Here, in Equation 5

Wow

In, the first term is the atmospheric pressure gradient force, the second term is the forward force, and the third term is the friction force. Also, in Equation 5

The first term in represents the vertical barometric pressure gradient force. p represents the pressure, ρ represents the air density, g represents the acceleration of gravity, Ω represents the Earth's rotational speed, and φ represents the latitude. u denotes a horizontal motion component and v denotes a vertical motion component.

On the other hand, the surface friction affects up to 1km above the ground, and above that, the atmospheric pressure gradient force becomes the main force that governs the motion. Equation 5 can be simplified as shown in Equation 6 by converting the forward force and friction force into constants related to latitude through the β approximation method using these features.

(Equation 6)

The combination of the horizontal motion u and the vertical motion v can approximate a complex motion occurring in the real world. When the two-dimensional horizontal motion is analyzed in Cartesian coordinates, the velocity component (horizontal motion component (u) and vertical motion component (v)) at an arbitrary moment can be expressed as a Taylor series from the origin. .

(Equation 7)

In addition, atmospheric motion occurring in nature can be classified into 1) translational motion, 2) vorticity motion, 3) divergent motion, and 4) transformation motion, as shown in Table 1, and all atmospheric motions are combinations thereof. Configurable.

Translation Wado exercise Divergence exercise Transformation movement

Therefore, if the velocity component of the arbitrary moment of Equation 7 is expressed as a combination of translational motion, vorticity motion, divergent motion, and deformation motion, it can be expressed as Equation 8.

(Equation 8)

이 되게 좌표 축을 변환시키면 수학식 9의 대기 운동에 관한 일반식을 얻을 수 있다. 그리고, 모든 기류 패턴들은 수학식 9에 의해 수치 모델화 할 수 있다. Since the vorticity motion that can occur on the Earth is uniquely determined in a clockwise or counterclockwise direction, ζ and r cannot exist at the same time. Using this, Equation 8 can be simplified as Equation 9, where r = 0, that is,

When the coordinate axis is transformed to be this, the general equation for the atmospheric motion of Equation 9 can be obtained. And, all airflow patterns can be numerically modeled by Equation 9.

(Equation 9)

1) translational movement

인 운동이다. 유선의 미분 방정식으로부터

이므로 전이운동을 하는 유선은

, 즉 기울기가 같은 직선군이 된다. 이 경우 공기덩이는 일정한 모양을 유지한 채 오직 직선을 따라 이동하므로 전이운동(translation)이라고도 부른다.All other terms in Equation 9 are 0,

It is an exercise. From the differential equation of the streamline

So the mammary gland that performs the transfer movement

, That is, a group of straight lines with the same slope. In this case, the airball maintains a constant shape and moves only along a straight line, so it is also called a translation.

2) wado movement

인 경우의 운동이다. 즉 ζ 항만 있고 다른 항은 모두 0인 경우로서, 유선의 미분 방정식은

이므로 적분하면

이다. 이것은 반경이 다른 원의 집단이므로 임의의 축을 중심으로 회전 운동을 나타낸다.

은 수평 운동의 와도로서 x축을 중심으로 반 시계방향으로 회전한다. 이러한 저기압성 운동을 양의 와도(positive vorticity)라 한다. In Equation 9

It is an exercise when it is. That is, if there is only ζ term and all other terms are 0, the differential equation of the streamline is

So if you integrate

to be. Since this is a group of circles with different radii, it represents a rotational motion around an arbitrary axis.

Is the vortex of horizontal motion and rotates counterclockwise around the x-axis. This hypobaric movement is called positive vorticity.

3) divergence exercise

이므로 유선의 미분방정식은

이다. 적분하면

이므로 유선은 원점을 지나는 기울기가 다른 직선군이다. 이 직선을 따라 바깥쪽을 향한 운동을 발산(divergence)이라 하고, 안쪽을 향한 운동을 수렴(convergence)이라 한다.This is the motion when the other terms excluding the D term in Equation 9 are 0. In other words,

So the differential equation of the streamline is

to be. Integrating

Therefore, a streamline is a group of straight lines with different slopes passing through the origin. The motion toward the outside along this straight line is called divergence, and the motion toward the inside is called convergence.

4) transformation movement

이므로 유선의 미분 방정식은

이다. 적분하면 x와 y축을 점근선으로 하는 쌍곡선 함수

가 된다. 이러한 유선을 갖는 운동에서는 원래의 모양이 변형하게 되어 변형(deformation)운동이라고 한다. This is the motion when all terms except F term in Equation 9 are 0. In other words,

So the differential equation of the streamline is

to be. Hyperbolic function with asymptotes on the x and y axes when integrated

Becomes. In this movement with a streamline, the original shape is deformed, which is called a deformation movement.

Here, the flight path setting unit 117 may extract an airflow pattern of the aerial area to be observed from a database (not shown). At this time, the airflow pattern may be numerically modeled by Equation 9. That is, the flight path setting unit 117 may check which airflow is the airflow in the aviation area to be observed, and extract an airflow pattern for the airflow (ie, a numerical model of the airflow pattern) from a database (not shown). have.

The flight path setting unit 117 may search for an optimal flight path based on the extracted airflow pattern and flight nodes in the aerial area to be observed. Specifically, the flight path setting unit 117 may set a flight path that is most similar to the streamlined flow of the extracted airflow pattern among flight paths by flight nodes in the aerial area to be observed as an optimal flight path. That is, the optimal flight path may be a streamline flow of the extracted airflow pattern and a set of flight nodes having a minimum root mean square error (RMSE). The flight path setting unit 117 may transmit information on an optimal flight path to the fixed wing unmanned aerial vehicle 104. In an exemplary embodiment, an optimal flight path may be searched using Bayesian decision theory or the like.

6 is a diagram schematically showing a process of searching for an optimal flight path in an embodiment of the present invention. 6 shows a case where the airflow in the aviation area to be observed is a cold front. Referring to FIG. 6, the flight path setting unit 117 may extract an airflow pattern of a cold front from a database (not shown). The flight path setting unit 117 is a set of flight nodes (n') having the minimum root mean square error and the streamline flow of the airflow pattern of the cold front among the flight nodes (n) of the aviation area to be observed. (Represented by circles) can be set as the optimal flight path.

In this way, by searching the flight path of the fixed-wing unmanned aerial vehicle 104 using the airflow pattern of the observation target aviation region, the amount of computation according to the random search of the flight nodes existing in the observation target aviation region is reduced, and the search range is reduced to fly. It is possible to increase the response speed of route search.

7 is a view showing the configuration of a fixed wing unmanned aerial vehicle 104 according to an embodiment of the present invention. Referring to FIG. 7, the fixed wing unmanned aerial vehicle 104 may include a flight control unit 121 and a weather observation unit 123.

The flight control unit 121 may receive flight control information from the navigation control device 102. Here, the flight control information may include information on the flight mode and flight path of the fixed wing unmanned aerial vehicle 104 in the aerial area to be observed. The flight controller 121 may control the flight of the fixed wing unmanned aerial vehicle 104 according to flight control information.

The meteorological observation unit 123 may observe the weather in the aerial area to be observed. In an exemplary embodiment, the meteorological observation unit 123 may include a temperature sensor, a humidity sensor, an air pressure sensor, and a wind speed sensor to observe the weather in the aerial area to be observed. The weather observation unit 123 may transmit the measured weather information to the navigation control device 102 or the like.

In the disclosed embodiment, by performing weather observation through the fixed-wing unmanned aerial vehicle 104, which is lighter than that of the rotary-wing unmanned aerial vehicle, even if the fixed-wing unmanned aerial vehicle 104 falls, damage caused by the fall can be reduced. In addition, by setting the flight path through the airflow pattern even on the bad weather, it is possible to perform weather observation while flying in turbulence even on the bad weather, and accordingly, there are fewer restrictions on mission performance.

8 is a flowchart illustrating a method of controlling flight of a fixed wing unmanned aerial vehicle according to an embodiment of the present invention. In the illustrated flowchart, the method is described by dividing the method into a plurality of steps, but at least some of the steps are performed in a different order, combined with other steps, performed together, omitted, divided into detailed steps, or not shown. One or more steps may be added and performed.

Referring to FIG. 8, the navigation control device 102 collects weather-related data for an aerial area to be observed (S 101 ).

Next, the navigation control device 102 calculates wind velocity data of the aviation area to be observed based on the weather-related data (S103). The navigation control device 102 may divide the aerial area to be observed into a preset unit grid area, and calculate wind velocity field data for each unit grid area.

Next, the navigation control device 102 checks whether the wind speed according to the wind velocity field data is less than the preset forward flight limit speed (S105).

As a result of checking in step S 105, when the wind speed is less than the preset forward flight limit speed, the navigation control device 102 sets the flight mode of the fixed wing unmanned aerial vehicle 104 to the forward wind flight mode (S 107). In this case, the fixed-wing unmanned aerial vehicle 104 freely flies from the flight nodes in the aerial area to be observed to a preset waypoint.

As a result of the confirmation of step S 105, when the wind speed is greater than or equal to the preset forward flight limit speed, the navigation control device 102 sets the flight mode of the fixed wing unmanned aerial vehicle 104 to the exhaust wind flight mode (S 109).

That is, when the wind speed of the wind is greater than or equal to the preset forward flight limit speed, the navigation control device 102 may switch the flight mode of the fixed wing unmanned aerial vehicle 104 from the forward wind flight mode to the exhaust flight mode. Here, the navigation control device 102 may set the flight mode of the fixed wing unmanned aerial vehicle 104 for each unit grid area of the aerial area to be observed.

On the other hand, when the flight mode of the fixed-wing unmanned aerial vehicle 104 is the exhaust air flight mode, the navigation control device 102 extracts an airflow pattern of the aerial area to be observed (S111). Here, the airflow pattern may be numerically modeled by the atmospheric motion equation (Equation 9).

Next, the navigation control device 102 searches for an optimal flight path based on the extracted airflow pattern and flight nodes in the observation target airspace (S113).

Specifically, the navigation control device 102 may set a flight path that is most similar to the streamlined flow of the extracted airflow pattern among flight paths by flight nodes in the aerial area to be observed as an optimal flight path. That is, the optimal flight path may be a streamline flow of the extracted airflow pattern and a set of flight nodes having a minimum root mean square error (RMSE).

Next, the navigation control device 102 generates flight control information (S 115). Here, the flight control information may include flight mode information and flight path information for each unit grid area of the aerial area to be observed.

The navigation control device 102 may transmit flight control information to the fixed wing unmanned aerial vehicle 104. After that, when flying the fixed-wing unmanned aerial vehicle 104, the fixed-wing unmanned aerial vehicle 104 will fly according to the flight control information. However, the present invention is not limited thereto, and flight control information may be transmitted to the fixed-wing unmanned aerial vehicle 104 in real time after flying the fixed-wing unmanned aerial vehicle 104 to control the fixed-wing unmanned aerial vehicle 104.

9 is a block diagram illustrating and describing a computing environment 10 including a computing device suitable for use in example embodiments. In the illustrated embodiment, each component may have different functions and capabilities in addition to those described below, and may include additional components in addition to those described below.

The illustrated computing environment 10 includes a computing device 12. In one embodiment, the computing device 12 may be a navigation control device 102. Further, the computing device 12 may be a fixed wing unmanned aerial vehicle 104.

The computing device 12 includes at least one processor 14, a computer-readable storage medium 16 and a communication bus 18. The processor 14 may cause the computing device 12 to operate according to the exemplary embodiments mentioned above. For example, the processor 14 may execute one or more programs stored in the computer-readable storage medium 16. The one or more programs may include one or more computer-executable instructions, and the computer-executable instructions are configured to cause the computing device 12 to perform operations according to an exemplary embodiment when executed by the processor 14 Can be.

The computer-readable storage medium 16 is configured to store computer-executable instructions or program code, program data, and/or other suitable form of information. The program 20 stored in the computer-readable storage medium 16 includes a set of instructions executable by the processor 14. In one embodiment, the computer-readable storage medium 16 includes memory (volatile memory such as random access memory, nonvolatile memory, or a suitable combination thereof), one or more magnetic disk storage devices, optical disk storage devices, flash It may be memory devices, other types of storage media that can be accessed by computing device 12 and store desired information, or a suitable combination thereof.

The communication bus 18 interconnects the various other components of the computing device 12, including the processor 14 and computer-readable storage medium 16.

Computing device 12 may also include one or more input/output interfaces 22 and one or more network communication interfaces 26 that provide interfaces for one or more input/output devices 24. The input/output interface 22 and the network communication interface 26 are connected to the communication bus 18. The input/output device 24 may be connected to other components of the computing device 12 through the input/output interface 22. The exemplary input/output device 24 includes a pointing device (such as a mouse or trackpad), a keyboard, a touch input device (such as a touch pad or a touch screen), a voice or sound input device, and various types of sensor devices and/or a photographing device. Input devices and/or output devices such as display devices, printers, speakers, and/or network cards. The exemplary input/output device 24 may be included in the computing device 12 as a component constituting the computing device 12, and may be connected to the computing device 12 as a separate device distinct from the computing device 12. May be.

Although the exemplary embodiments of the present invention have been described in detail above, those of ordinary skill in the art to which the present invention pertains will understand that various modifications may be made to the above-described embodiments without departing from the scope of the present invention. . Therefore, the scope of the present invention is limited to the described embodiments and should not be determined, and should not be determined by the claims to be described later, but also by those equivalents to the claims.

100: weather observation system
102: navigation control device
104: fixed-wing drone
111: data collection unit
113: wind velocity field analysis unit
115: flight mode setting unit
117: flight path setting unit
121: flight control
123: weather station

Claims (18)

As a system that performs weather observation using a fixed-wing unmanned aerial vehicle,
The system,
A navigation control device for collecting weather-related data of an aviation area to be observed in which the fixed-wing unmanned aerial vehicle will fly, and generating flight control information for controlling the flight of the fixed-wing unmanned aerial vehicle based on the collected weather-related data,
The navigation control device,
A data collection unit for collecting weather-related data of the aerial area to be observed;
A wind velocity field analysis unit that calculates wind velocity field data of the aviation area to be observed based on the weather-related data;
A flight mode setting unit configured to set a flight mode of the fixed-wing unmanned aerial vehicle to a direct wind flight mode or an exhaust wind flight mode according to the wind speed of the wind velocity field data; And
When the flight mode is a wind blow flight mode, the fixed-wing unmanned aerial vehicle comprises a flight path setting unit for searching a flight path to fly along a wind path in the observation target air area,
The flight path setting unit,
Check the meteorological phenomenon of the aerial region to be observed, extract an airflow pattern corresponding to the meteorological phenomenon among pre-stored airflow patterns, and streamline flow of the extracted airflow pattern among flight nodes of the observation target airflow region. A weather observation system for extracting flight nodes having a root mean square error, and setting a flight path of the fixed-wing unmanned aerial vehicle based on the extracted set of flight nodes.
delete The method according to claim 1,
The wind velocity field analysis unit,
Dividing the observation target aerial region into a preset unit grid region, calculating the wind velocity data for each unit grid region,
The flight mode setting unit,
A weather observation system for setting a flight mode of the fixed wing unmanned aerial vehicle according to the wind speed for each unit grid area.
The method of claim 3,
The flight mode setting unit,
The weather observation system for setting the flight mode to a forward flight mode or an exhaust flight mode according to whether the wind speed is equal to or greater than a preset forward flight limit speed.
The method of claim 4,
The flight mode setting unit,
A meteorological observation system to determine whether the wind speed of the wind is greater than or equal to a preset forward flight limit speed by Equation 1 and Equation 2 below.
(Equation 1)

(Equation 2)

V _wind : wind speed
V _max : The maximum speed of a fixed-wing drone
V _stall : stall speed of a fixed wing drone
W: Weight of fixed-wing drone
C: lift coefficient
ρ: density of air
S: The area of the wing of a fixed-wing drone
The method of claim 4,
The flight mode setting unit,
When the wind speed is greater than or equal to a preset forward flight limit speed, the flight mode is set to an exhaust flight mode, and when the wind speed is less than a preset forward flight limit speed, the flight mode is set to a forward flight mode.
delete delete delete A method for controlling a flight of a fixed-wing unmanned aerial vehicle for weather observation, performed in a computing device having one or more processors and a memory storing one or more programs executed by the one or more processors,
Collecting weather-related data of an aviation area to be observed in which the fixed-wing unmanned aerial vehicle will fly;
Calculating wind velocity data of the aerial area to be observed based on the weather-related data;
Setting a flight mode of the fixed-wing unmanned aerial vehicle to a constant speed flight mode or an exhaust wind flight mode according to the wind speed of the wind velocity field data; And
When the flight mode is a wind blow flight mode, the fixed-wing unmanned aerial vehicle comprises the step of searching for a flight path to fly along the wind path in the observation target air area,
The step of searching for the flight path,
Checking a meteorological phenomenon in the aerial area to be observed;
Extracting an airflow pattern corresponding to the meteorological phenomenon from among previously stored airflow patterns;
Extracting flight nodes having a minimum root mean square error and a streamlined flow of the extracted airflow pattern among flight nodes in the aerial area to be observed; And
And setting a flight path of the fixed wing unmanned aerial vehicle based on the extracted set of flight nodes.
The method of claim 10,
The step of calculating the wind velocity field data,
Dividing the aerial area to be observed into a predetermined unit grid area; And
Comprising the step of calculating the wind velocity field data for each unit grid area,
The step of setting the flight mode,
A flight control method of a fixed-wing unmanned aerial vehicle for setting a flight mode of the fixed-wing unmanned aerial vehicle according to the wind speed for each unit grid area.
The method of claim 11,
The step of setting the flight mode,
The flight control method of a fixed-wing unmanned aerial vehicle, wherein the flight mode is set to a direct wind flight mode or an exhaust flight mode according to whether the wind speed is higher than or equal to a preset forward flight limit speed.
The method of claim 12,
The step of setting the flight mode,
Flight control method of a fixed-wing unmanned aerial vehicle to check whether the wind speed of the wind is greater than or equal to a preset forward flight limit speed by Equation 1 and Equation 2 below.
(Equation 1)

(Equation 2)

V _wind : wind speed
V _max : The maximum speed of a fixed-wing drone
V _stall : stall speed of a fixed wing drone
W: Weight of fixed-wing drone
C: lift coefficient
ρ: density of air
S: The area of the wing of a fixed-wing drone
The method of claim 12,
The step of setting the flight mode,
Setting the flight mode to an exhaust flight mode when the wind speed is greater than or equal to a preset forward flight limit speed; And
And setting the flight mode to a forward flight mode when the wind speed is less than a preset forward flight limit speed.
delete delete delete One or more processors;
Memory; And
Contains one or more programs,
The one or more programs are stored in the memory and configured to be executed by the one or more processors,
The one or more programs,
An instruction for collecting weather-related data of an observable air area in which the fixed-wing UAV will fly;
An instruction for calculating wind velocity field data of the aerial area to be observed based on the weather-related data;
A command for setting the flight mode of the fixed-wing unmanned aerial vehicle to a constant speed flight mode or an exhaust air flight mode according to the wind speed of the wind velocity field data; And
When the flight mode is a wind blown flight mode, the fixed-wing unmanned aerial vehicle includes a command for searching a flight path so that the fixed-wing unmanned aerial vehicle flies along the wind path in the observation target air area,
The command to search for the flight path,
An instruction for confirming a meteorological phenomenon in the aerial area to be observed;
A command for extracting an airflow pattern corresponding to the meteorological phenomenon from among previously stored airflow patterns;
A command for extracting flight nodes having a minimum root mean square error and a streamlined flow of the extracted airflow pattern among flight nodes in the observation target aerial area; And
And a command for setting a flight path of the fixed wing unmanned aerial vehicle based on the extracted set of flight nodes.

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