KR102553254B1 - Apparatus and method for improving GPS reception rate of multicopter during facility inspection - Google Patents

Abstract

The present invention relates to a multicopter inspecting facilities, and more particularly, to an apparatus and method for improving a multicopter's GPS reception rate, which can prevent the reception rate of satellite navigation information from being lowered by a multicopter during facility inspection. . To this end, a plurality of GPS antennas (150, 160, 170, 180) installed at different locations on the multicopter 100 to receive satellite navigation information; a measurement comparison unit for measuring and comparing reception rates of each of the GPS antennas 150, 160, 170, and 180; Selecting means for selecting an antenna with the highest reception rate among a plurality of GPS antennas (150, 160, 170, 180); and a control unit 120 for correcting location information of the multicopter 100 using satellite navigation information received from the selected GPS antenna and distance information between the selected GPS antenna and the center of the multicopter 100. Provided is a device for improving the GPS reception rate of a multicopter during facility inspection.

Description

Apparatus and method for improving GPS reception rate of multicopter during facility inspection}

The present invention relates to a multicopter inspecting facilities, and more particularly, to an apparatus and method for improving a multicopter's GPS reception rate, which can prevent the reception rate of satellite navigation information from being lowered by a multicopter during facility inspection. .

In general, for train tracks, bridges, etc., girders, substructures, abutments, etc. are photographed using a multicopter (or an unmanned aerial vehicle such as a drone), and cracks, deformations, tilts, etc. are inspected. Such photographing and inspection are performed on a regular basis, and since time and cost are reduced, they have recently been greatly spotlighted and widely performed.

That is, after moving to the vicinity of the facility with a vehicle equipped with a multicopter, the multicopter is launched. The operator controls the multicopter from inside the vehicle and monitors the filming and inspection process.

However, there is a problem in that the reception rate of satellite navigation information (GPS signal) of the multi-copter is lowered due to the facility during the inspection of the lower structure of the railway bridge or girder. Due to such deterioration in the reception rate, it is difficult for the multicopter to accurately recognize the current location, and there have been cases where the multicopter collided with a facility or malfunctioned. Conventionally, when this problem occurs, the operator has to turn off the automatic flight and manually adjust the multicopter. Therefore, the operator's flight control skill was required, and there were disadvantages in that automatic inspection and manual inspection were mixed, causing confusion and increasing inspection time.

1. Korean Patent Publication No. 10-2017-01047620 (system and method for detecting surface damage of wind turbine using drone), 2. Korean Patent Publication No. 10-2019-0048748 (autonomous flight system and method using dual GPS), 3. Republic of Korea Patent Registration No. 10-2210571 (Bridge and tunnel safety diagnosis remote monitoring alarm method using GPS coordinates and mobile communication system).

Therefore, the present invention has been made to solve the above problems, and the problem to be solved by the present invention is a multicopter during facility inspection that can improve the reception rate of satellite navigation information due to the shadow of the facility. It is to provide a GPS reception rate improvement device and method.

However, the technical problems to be achieved in the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned will be clear to those skilled in the art from the description below. You will be able to understand.

In order to achieve the above technical problem, a plurality of GPS antennas (150, 160, 170, 180) installed at different locations on the multicopter 100 to receive satellite navigation information; a measurement comparison unit for measuring and comparing reception rates of each of the GPS antennas 150, 160, 170, and 180; Selecting means for selecting an antenna with the highest reception rate among a plurality of GPS antennas (150, 160, 170, 180); and a control unit 120 for correcting location information of the multicopter 100 using satellite navigation information received from the selected GPS antenna and distance information between the selected GPS antenna and the center of the multicopter 100. Provided is a device for improving the GPS reception rate of a multicopter during facility inspection.

In addition, the plurality of GPS antennas 150 , 160 , 170 , and 180 are installed on each of the plurality of arms 140 extending radially from the center of the multicopter 100 .

As another object of the present invention as described above, a plurality of GPS antennas (150, 160, 170, 180) installed at different locations on the multicopter 100 receive satellite navigation information; Step of measuring and comparing reception rates of each GPS antenna (150, 160, 170, 180) by a measurement comparison unit (S100); selecting an antenna with the highest reception rate among a plurality of GPS antennas (150, 160, 170, 180) by a selection means (S110); and correcting the location information of the multi-copter 100 by using the satellite navigation information received from the selected GPS antenna (S120) and the distance information between the selected GPS antenna and the center of the multi-copter 100 by the control unit 120 (S130). ); It can also be achieved by a method for improving the GPS reception rate of a multicopter during facility inspection, characterized in that it includes.

In addition, after the correction step (S130), when the reception rate is lowered below the threshold value, the comparison step (S100) is performed.

An object of the present invention as described above is a second embodiment, at least one rail installed on the multicopter 200; a GPS antenna 230 configured to be movable on a rail; a distance calculation means for calculating a point farthest from a nearby facility in the movement path of the GPS antenna 230; Driving means capable of moving the GPS antenna 230 to a distant point; A control unit 120 for correcting location information of the multi-copter 200 using satellite navigation information received from the GPS antenna 230 on a distant point and distance information between the GPS antenna 230 and the center of the multi-copter 200; It can also be achieved by the GPS reception rate improving device of a multicopter during facility inspection, characterized in that it includes.

In addition, the rails are first and second rails 210 and 220 disposed at right angles to each other, and the driving unit includes a first servomotor 240 that moves the GPS antenna 230 on the first rail 210; and a second servomotor 250 moving the first rail 210 on the second rail 220 .

In addition, distance information between the GPS antenna 230 and the center of the multicopter 200 is calculated based on the location information of the first and second servomotors 240 and 250 .

The objects of the present invention as described above are another category, and in the reception rate improvement method using the above-described multicopter GPS reception rate improvement device, the distance calculation means is the point farthest from the nearest facility in the movement path of the GPS antenna 230 on the rail. Calculating (S200); moving the GPS antenna 230 to a distant point by the driving means (S210); The GPS antenna 230 receives satellite navigation information (S220); A step (S230) of the control unit 120 correcting the location information of the multicopter 200 using satellite navigation information and distance information between the GPS antenna 230 and the center of the multicopter 200 (S230). It can also be achieved by a method for improving the GPS reception rate of a multicopter during facility inspection.

In addition, after the correction step (S230), when the reception rate is lowered below the threshold value, the calculation step (S200) may be performed.

An object of the present invention as described above is a third embodiment, one end of which is connected to the hinge 320 on the multicopter 300 and the other end is a free end, the antenna pole 310 capable of extending and contracting in the longitudinal direction; a GPS antenna 230 installed on the antenna pole 310; a distance calculation means for calculating a point farthest from a nearby facility on the multicopter 300; Adjusting means for adjusting the angle and length of the antenna pole 310 to move the GPS antenna 230 to a distant point; A control unit 120 for correcting location information of the multi-copter 300 using satellite navigation information received from the GPS antenna 230 on a distant point and distance information between the GPS antenna 230 and the center of the multi-copter 300; There is provided an apparatus for improving the GPS reception rate of a multicopter during facility inspection, characterized in that it comprises a.

In addition, the adjusting means includes an X-axis servomotor 330 for rotating the antenna pole 310 in the X-axis direction; a Y-axis servomotor 340 that rotates the antenna pole 310 in the Y-axis direction; and a Z-axis servomotor 350 that extends and contracts the antenna pole 310 in the longitudinal direction.

In addition, based on the location information of the X-axis servomotor 330, the Y-axis servomotor 340, and the Z-axis servomotor 350, distance information between the GPS antenna 230 and the center of the multicopter 300 is calculated. .

As another category, in the reception rate improvement method using the above-described multicopter GPS reception rate improvement device, the distance calculation unit calculates a point farthest from a nearby facility on the multicopter 300 (S300); Adjusting the angle and length of the antenna pole 310 so that the adjusting means moves the GPS antenna 230 to a distant point (S310); The GPS antenna 230 receiving satellite navigation information (S320); The control unit 120 corrects the location information of the multi-copter 300 using the satellite navigation information and the distance information between the GPS antenna 230 and the center of the multi-copter 300 (S330). Provided is a method for improving the GPS reception rate of a multicopter during facility inspection.

In addition, after the correction step (S330), when the reception rate is lowered below the threshold value, the calculation step (S300) is performed.

According to one embodiment of the present invention, even when the reception rate of satellite navigation information (GPS signal) is lowered during facility inspection, adjustment is made so that the multicopter itself exhibits the highest reception rate. This makes it possible to calculate the exact position of the multicopter even when approaching or flying under the facility.

In addition, by correcting the distance between the GPS antenna and the geometric center of the multicopter, it is possible to calculate the center position of the multicopter, not the position of the GPS antenna. Due to this, the accurate location information of the multicopter is measured.

Through this, facilities can be inspected smoothly and quickly, and the operator can focus more on inspecting or determining facilities rather than flying the multicopter.

However, the effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below. You will be able to.

The following drawings attached to this specification illustrate preferred embodiments of the present invention, and together with the detailed description of the present invention serve to further understand the technical idea of the present invention, the present invention is the details described in such drawings should not be construed as limited to
1 is an operating state diagram of a multicopter during facility inspection according to the present invention;
2 is a plan view of a multicopter 100 according to a first embodiment of the present invention;
3 is a flowchart schematically showing a method for improving the GPS reception rate of the multicopter 100 according to the first embodiment of the present invention;
4a is a plan view of a multicopter 200 according to a second embodiment of the present invention;
4B is a schematic system block diagram of a multicopter 200 according to a second embodiment of the present invention;
5 is a flowchart schematically illustrating a method for improving a GPS reception rate of a multicopter 200 according to a second embodiment of the present invention;
6a is a plan view of a multicopter 300 according to a third embodiment of the present invention;
6B is a schematic system block diagram of a multicopter 300 according to a third embodiment of the present invention;
7 is a flowchart schematically illustrating a method for improving a GPS reception rate of a multicopter 300 according to a third embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. However, since the description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, since the embodiment can be changed in various ways and can have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, the scope of the present invention should not be construed as being limited thereto.

The meaning of terms described in the present invention should be understood as follows.

Terms such as "first" and "second" are used to distinguish one component from another, and the scope of rights should not be limited by these terms. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element. It should be understood that when an element is referred to as “connected” to another element, it may be directly connected to the other element, but other elements may exist in the middle. On the other hand, when an element is referred to as being “directly connected” to another element, it should be understood that no intervening elements exist. Meanwhile, other expressions describing the relationship between components, such as “between” and “immediately between” or “adjacent to” and “directly adjacent to” should be interpreted similarly.

Singular expressions should be understood to include plural expressions unless the context clearly dictates otherwise, and terms such as “comprise” or “having” refer to a described feature, number, step, operation, component, part, or It should be understood that it is intended to indicate that a combination exists, and does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless defined otherwise. Terms defined in commonly used dictionaries should be interpreted as consistent with meanings in the context of related art, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present invention.

Example 1

Hereinafter, the configuration of a preferred embodiment will be described in detail with reference to the accompanying drawings. 1 is an operating state diagram of a multicopter during facility inspection according to the present invention. As shown in FIG. 1, the facilities may be train tracks, bridges, girders, substructures, abutments, piers, and the like. The multicopter 50 is a small unmanned aerial vehicle, and may be an unmanned helicopter or a drone. These multicopters 50 are moved, retrieved, controlled, and communicated by vehicles parked around the facility. As shown in FIG. 1, the multicopter 50 photographs the lower part of the railway bridge 10 or the pier 20 while moving along a predetermined path or flight direction 30, and cracks and tilts are detected from the captured image. , deformation, foreign matter, peeling, leakage, etc.

2 is a plan view of the multicopter 100 according to the first embodiment of the present invention. As shown in FIG. 2, the main body 110 is provided at the center of the multicopter 100, and the control unit 120 is installed in the main body 110. The control unit 120 may be a microprocessor or CPU, and programs necessary for inspection, filming, and flight are loaded and executed. In particular, the controller 120 knows each distance from the geometric center of the multicopter 100 to the first, second, third, and fourth GPS antennas 150, 160, 170, and 180.

The multicopter 100 includes a power supply unit 266, blades and blade motors 260, a camera, a GPS antenna 262, a wireless communication module 264, a reception rate monitoring unit 270, a proximity sensor, and a distance sensor necessary for flight. , obstacle detection sensor, anti-collision sensor, gyro sensor, etc. are installed.

The four arms 140 are disposed in a radial direction from the main body 110, and a blade motor and a blade 130 are installed at the ends. Arms 140 may be selected from a range of 3 to 6.

One end of the first antenna connecting rod 152 is fixed to the main body 110, and the other end is disposed in a radial direction and is a free end. A first GPS antenna 150 is positioned at the other end of the first antenna connecting rod 152 . The length of the first antenna connecting rod 152 is in the range of 30 to 100 cm.

The second, third, and fourth antenna connecting rods 162, 172, and 182 have the same configuration as the first antenna connecting rod 152, and the second, third, and fourth GPS antennas 160, 170, and 180 are positioned at the other ends, respectively. . The first, second, third and fourth antenna connecting rods 152, 162, 172 and 182 are arranged at equal angles. Antenna connecting rods can be selected from a range of 2 to 6.

3 is a flowchart schematically illustrating a method for improving the GPS reception rate of the multicopter 100 according to the first embodiment of the present invention. As shown in FIG. 3, first, the first, second, third, and fourth GPS antennas 150, 160, 170, and 180 installed in four directions on the multicopter 100 receive satellite navigation information (GPS signals). .

Next, the measurement comparison unit of the controller 120 measures the reception rates of the first, second, third, and fourth GPS antennas 150, 160, 170, and 180 and compares them with each other (S100).

Next, the selection unit of the controller 120 selects one of the first, second, third, and fourth GPS antennas 150, 160, 170, and 180 with the highest reception rate (S110).

Then, the control unit 120 corrects the location information of the multi-copter 100 using the satellite navigation information received from the selected GPS antenna (S120) and the distance information between the selected GPS antenna and the center of the multi-copter 100 (S120). S130). If the first GPS antenna 150 is selected with the highest reception rate, the center position of the multicopter 100 is calculated using distance information between the first GPS antenna 150 and the center of the multicopter 100. In this way, the center position of the multicopter 100, not the position of the GPS antenna, is known. In particular, the correction step (S130) is required as the multicopter 100 is large (eg, 1 m in diameter or more). The accurate position of the multicopter 100 corrected in this way is used for path control of the multicopter 100, automatic flight, position feedback with a mobile control room, collision prevention with facilities, and the like.

If the reception rate changes in real time due to the flight of the multicopter 100, the reception rate monitoring unit 270 checks the reception rate continuously or at regular intervals. If the reception rate of the selected first GPS antenna 150 is lower than the threshold value, the above-described comparison step (S100) is performed, so that the GPS antenna selected among the four GPS antennas can be continuously changed. Through this, the multicopter 100 can always secure the highest reception rate.

2nd embodiment

Hereinafter, the configuration of a preferred embodiment will be described in detail with reference to the accompanying drawings. Figure 4a is a plan view of the multicopter 200 according to the second embodiment of the present invention, Figure 4b is a schematic system block diagram of the multicopter 200 according to the second embodiment of the present invention. The configuration of the second embodiment is substantially the same as that of the first embodiment. The multicopter 200 of the second embodiment also includes four blade motors 260, a camera 262, a wireless communication unit 264, and a power supply unit 266.

The multicopter 200 of the second embodiment includes first and second rails 210 and 220 disposed perpendicular to each other on the X-Y plane. One GPS antenna 230 can move left and right on the first rail 210 by the first servomotor 240 . The second servomotor 250 moves the first rail 210 left and right on the second rail 220 . The configuration of the first and second rails 210 and 220 and the first and second servomotors 240 and 250 is similar to that of an XY orthogonal robot.

Positional information output from the first and second servomotors 240 and 250 is transmitted to the controller 120 so that the current position of the GPS antenna 230 can be known.

5 is a flowchart schematically illustrating a method for improving a GPS reception rate of a multicopter 200 according to a second embodiment of the present invention. As shown in FIG. 5, first, the distance calculating unit of the control unit 120 calculates a point farthest from a nearby facility (eg, a side edge of a bridge) in a movement path of the GPS antenna 230 on the rail (S200). This is done through distance measurement and direction detection, and it is based on the judgment that the farthest point has the lowest GPS shadow of the facility and therefore the highest GPS reception rate.

If two points are calculated as the farthest points on the rails 210 and 220, the point closest to the current position of the GPS antenna 230 is first selected and moved. Since the control unit 120 knows the current position of the GPS antenna 230, this is to secure the fast movement of the GPS antenna 230.

Then, the first and second servomotors 240 and 250 are driven to move the GPS antenna 230 to a distant point (S210). For example, the second rail 220 moves to the right end of the first rail 210, and the GPS antenna 230 moves to one end of the second rail 220.

Next, the GPS antenna 230 receives satellite navigation information (S220).

The controller 120 corrects location information of the multicopter 200 using satellite navigation information and distance information between the GPS antenna 230 and the center of the multicopter 200 (S230). At this time, the control unit 120 recognizes the moved position of the GPS antenna 230 by using the location information of the first and second servomotors 240 and 250 .

If, after the correction step (S230), if it is determined by the reception rate monitoring unit 270 that the reception rate is lower than the threshold value, the above-described calculation step (S200) may be performed again. Through this, the position of the GPS antenna 230 can be continuously changed, and the multicopter 200 can always secure the highest reception rate.

3rd embodiment

Hereinafter, the configuration of a preferred embodiment will be described in detail with reference to the accompanying drawings. 6A is a plan view of a multicopter 300 according to a third embodiment of the present invention, and FIG. 6B is a schematic system block diagram of the multicopter 300 according to a third embodiment of the present invention. The configuration of the third embodiment is substantially the same as that of the first embodiment. The multicopter 300 of the third embodiment also includes four blade motors 260, a camera 262, a wireless communication unit 264, and a power supply unit 266.

An antenna pole 310 is connected to the upper surface of the body of the multicopter 300 by a hinge 320. One end of the antenna pole 310 is connected to the hinge 320 to allow X-axis rotation and Y-axis rotation, and the other end is free and the GPS antenna 230 is installed. The antenna pole 310 can be stretched along the longitudinal direction.

The X-axis servomotor 330 and the Y-axis servomotor 340 cause rotation of the antenna pole 310 in the X-axis direction and Y-axis direction, respectively. The Z-axis servomotor 350 controls the extension and contraction of the antenna pole 310 .

Positional information output from the X-axis servomotor 330, the Y-axis servomotor 340, and the Z-axis servomotor 350 is transmitted to the control unit 120 so that the current location of the GPS antenna 230 can be known.

7 is a flowchart schematically illustrating a method for improving a GPS reception rate of a multicopter 300 according to a third embodiment of the present invention. As shown in FIG. 7 , first, the distance calculating means of the control unit 120 calculates a point farthest from a nearby facility (eg, a side edge of a bridge) within the multicopter 300 (S300). This is done through distance measurement and direction detection, and it is based on the judgment that the farthest point has the lowest GPS shadow of the facility and therefore the highest GPS reception rate.

If two points are calculated as the farthest point, the point closest to the current location of the GPS antenna 230 is first selected and moved. Since the control unit 120 knows the current position of the GPS antenna 230, this is to secure the fast movement of the GPS antenna 230.

Next, the adjusting means of the control unit 120 adjusts the angle and length of the antenna pole 310 to move the GPS antenna 230 to a distant point (S310). The X-axis servomotor 330 and the Y-axis servomotor 340 rotate the antenna pole 310, and the Z-axis servomotor 350 extends or contracts the antenna pole 310. For example, the X-axis servomotor 330 and the Y-axis servomotor 340 rotate the antenna pole 310 at an angle of 45° in the first quadrant, and the Z-axis servomotor 350 achieves maximum elongation.

Next, the GPS antenna 230 receives satellite navigation information (S320).

Then, the control unit 120 corrects the location information of the multi-copter 300 using satellite navigation information and distance information between the GPS antenna 230 and the center of the multi-copter 300 (S330). At this time, the controller 120 recognizes the position of the GPS antenna 230 using output signals of the X-axis servomotor 330, the Y-axis servomotor 340, and the Z-axis servomotor 350.

If, after the correction step (S330), if it is determined by the reception rate monitoring unit 270 that the reception rate is lowered below the threshold value, the above-described calculation step (S300) is performed again. Through this, the location of the GPS antenna 230 can be continuously changed, and the multicopter 300 can always secure the highest reception rate.

Detailed descriptions of the preferred embodiments of the present invention disclosed as described above are provided to enable those skilled in the art to implement and practice the present invention. Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will understand that the present invention can be variously modified and changed without departing from the scope of the present invention. For example, those skilled in the art can use each configuration described in the above-described embodiments in a manner of combining with each other. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The present invention may be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention. Accordingly, the above detailed description should not be construed as limiting in all respects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention. The invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. In addition, claims that do not have an explicit citation relationship in the claims may be combined to form an embodiment or may be included as new claims by amendment after filing.

10: railway bridge,
20: piers,
30: flight direction,
50, 100, 200, 300: Multicopter,
110: body,
120: control unit,
130: blade,
140: arm,
150: first GPS antenna,
152: first connecting rod,
160: second GPS antenna,
162: second connecting rod,
170: third GPS antenna,
172: third connecting rod,
180: 4th GPS antenna,
182: fourth connecting rod,
210: first rail,
220: second rail,
230: GPS antenna,
240: first servomotor,
250: second servo motor,
260: blade motor,
262: camera,
264: communication department,
266: power supply,
270: reception rate monitoring unit,
310: antenna pole,
320: hinge,
330: X-axis servo motor,
340: Y-axis servo motor,
350: Z-axis servo motor,

Claims (14)

delete delete delete delete At least one rail installed on the multicopter 200;
a GPS antenna 230 configured to be movable on the rail;
a distance calculation means for calculating a point farthest from a nearby facility in the movement path of the GPS antenna 230;
a driving means capable of moving the GPS antenna 230 to the distant point;
Correcting the location information of the multi-copter 200 using the satellite navigation information received from the GPS antenna 230 on the distant point and the distance information between the GPS antenna 230 and the center of the multi-copter 200 Control unit 120; GPS reception rate improving device of a multi-copter during facility inspection, characterized in that it comprises a. According to claim 5,
The rails are first and second rails 210 and 220 disposed at right angles to each other,
The driving means is
a first servo motor 240 moving the GPS antenna 230 on the first rail 210; and
A second servomotor 250 for moving the first rail 210 on the second rail 220; GPS reception rate improving device of a multicopter during facility inspection, characterized in that. According to claim 6,
Based on the location information of the first and second servomotors 240 and 250, distance information between the GPS antenna 230 and the center of the multicopter 200 is calculated. Reception rate enhancer. In the reception rate improvement method using the multicopter GPS reception rate improvement device according to any one of claims 5 to 7,
calculating, by a distance calculation unit, a point farthest from a nearby facility in the movement path of the GPS antenna 230 on the rail (S200);
moving the GPS antenna 230 to the distant point by a driving means (S210);
The GPS antenna 230 receiving satellite navigation information (S220);
Correcting, by the control unit 120, location information of the multi-copter 200 using the satellite navigation information and distance information between the GPS antenna 230 and the center of the multi-copter 200 (S230); including A method for improving the GPS reception rate of a multicopter during facility inspection, characterized in that for. According to claim 8,
After the correction step (S230),
When the reception rate is lowered below the threshold value, the method for improving the GPS reception rate of the multicopter during facility inspection, characterized in that it is performed from the calculation step (S200). An antenna pole 310, one end of which is connected to the multicopter 300 by a hinge 320 and the other end of which is a free end, and which is flexible in the longitudinal direction;
a GPS antenna 230 installed on the antenna pole 310;
a distance calculation means for calculating a point farthest from a nearby facility on the multicopter 300;
Adjusting means for adjusting the angle and length of the antenna pole 310 to move the GPS antenna 230 to the distant point;
Correcting the location information of the multi-copter 300 using the satellite navigation information received from the GPS antenna 230 on the distant point and the distance information between the GPS antenna 230 and the center of the multi-copter 300 Control unit 120; GPS reception rate improving device of a multi-copter during facility inspection, characterized in that it comprises a. According to claim 10,
The adjustment means,
an X-axis servomotor 330 for rotating the antenna pole 310 in the X-axis direction;
a Y-axis servomotor 340 for rotating the antenna pole 310 in the Y-axis direction; and
A Z-axis servomotor 350 that expands and contracts the antenna pole 310 in the longitudinal direction; GPS reception rate improving device of a multicopter during facility inspection, characterized in that. According to claim 11,
Distance information between the GPS antenna 230 and the center of the multicopter 300 based on positional information of the X-axis servomotor 330, the Y-axis servomotor 340, and the Z-axis servomotor 350 GPS reception rate improving device of a multicopter during facility inspection, characterized in that for calculating In the reception rate improvement method using the multicopter GPS reception rate improvement device according to any one of claims 10 to 12,
Step of calculating, by a distance calculating unit, a point farthest from a nearby facility on the multicopter 300 (S300);
Adjusting the angle and length of the antenna pole 310 so that the adjusting unit moves the GPS antenna 230 to the distant point (S310);
The GPS antenna 230 receiving satellite navigation information (S320);
Correcting, by the control unit 120, location information of the multi-copter 300 using the satellite navigation information and distance information between the GPS antenna 230 and the center of the multi-copter 300 (S330); including A method for improving the GPS reception rate of a multicopter during facility inspection, characterized in that for. According to claim 13,
After the correction step (S330),
When the reception rate decreases below the threshold, the method for improving the GPS reception rate of the multicopter during facility inspection, characterized in that it is performed from the calculation step (S300).

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