KR20170025794A - Air data measuring apparatus for multi-copter, multi-copter equipped therewith, and multi-copter controlling method using the same - Google Patents

Air data measuring apparatus for multi-copter, multi-copter equipped therewith, and multi-copter controlling method using the same Download PDF

Info

Publication number
KR20170025794A
KR20170025794A KR1020150122753A KR20150122753A KR20170025794A KR 20170025794 A KR20170025794 A KR 20170025794A KR 1020150122753 A KR1020150122753 A KR 1020150122753A KR 20150122753 A KR20150122753 A KR 20150122753A KR 20170025794 A KR20170025794 A KR 20170025794A
Authority
KR
South Korea
Prior art keywords
copter
measurement case
atmospheric
measuring device
data measuring
Prior art date
Application number
KR1020150122753A
Other languages
Korean (ko)
Other versions
KR101726653B1 (en
Inventor
박영민
Original Assignee
한국항공우주연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한국항공우주연구원 filed Critical 한국항공우주연구원
Priority to KR1020150122753A priority Critical patent/KR101726653B1/en
Publication of KR20170025794A publication Critical patent/KR20170025794A/en
Application granted granted Critical
Publication of KR101726653B1 publication Critical patent/KR101726653B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • G01P5/14—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring differences of pressure in the fluid
    • B64C2201/024—
    • B64C2201/042—
    • B64C2201/108—
    • B64C2201/141—

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)

Abstract

The present invention aims to provide an atmospheric data measurement apparatus for a multicopter capable of, when an unstable weather condition occurs, detecting the occurrence. To achieve such a purpose, the present invention includes an atmospheric data measurement apparatus used in a multicopter including a main body and a flight control computer. More specifically, the present invention includes: a measurement case installed in the multicopter; a detector installed in the measurement case and detecting atmosphere information; and a calculator receiving the atmosphere information detected by the detector such that the flight control computer uses the atmosphere information for adjustment of the position and posture of the multicopter, and calculating the direction and strength of wind.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus for measuring atmospheric data for a multi-copter, a multi-copter having the multi-copter and a control method thereof,

The present invention relates to a multi-copter.

Generally, a multi-copter collectively refers to an unmanned aerial vehicle (UAV) called a "drone" that is driven by induction of a radio wave by a person without burning, Logistics delivery, high-speed shooting, surveying, or accident investigation.

1 is a perspective view schematically showing a conventional multi-copter.

1, a conventional multi-copter 1 includes a main body 10 mounted with a flight control computer (not shown) for controlling flight operations, a plurality of A support frame 30 branched radially from the main body 10 to support the plurality of motors 20 and a support frame 30 connected to the rotation shafts of the plurality of motors 20, Each including a respective propeller 40. Therefore, according to the control of the flight control computer, the propeller of the corresponding motor is rotated by the rotation of all or a part of the motors 20, so that the flying of the multi-copter 1 is performed such as ascending, descending,

In order to restore the position and attitude of the multi-copter 1, an optical sensor (or an ultrasonic sensor) (not shown) and a GPS (inertial navigation device) (not shown) And the like are further mounted on the main body 10 and the flight control computer receives signals from the optical sensor (or ultrasonic sensor) and GPS (inertial navigation system) or the like to change the thrust of the propeller 40 Thereby restoring the multi-copter 1 to its original position or posture.

However, in the conventional multi-copter (1), stable control is possible in the absence of wind, but when a sudden gust or downward air flow occurs, the position or attitude of the gas is already abruptly changed, There is a problem that accidents frequently occur because there is not enough time to cope with the situation. For example, when shooting in close proximity to a person, such as a multi-copter for broadcasting, or shooting in a harsh environment such as a mountain or a high-rise building, there is a problem in that ground personnel are injured or expensive equipment is damaged due to a blast.

An object of the present invention is to provide an apparatus for measuring atmospheric data for a multi-copter capable of measuring wind direction and direction when an unstable atmospheric condition occurs.

Another object of the present invention is to provide a method of controlling a multi-copter using an atmospheric data measuring apparatus for a multi-copter, which enables reliable flight by measuring wind direction and direction when unstable atmospheric conditions occur.

In order to achieve the above object, an apparatus for measuring atmospheric data for a multi-copter according to an embodiment of the present invention is an apparatus for measuring atmospheric data for a multi-copter used in a multi-copter including a main body and a flight control computer, A measurement case so arranged; A sensing unit provided in the measurement case for sensing atmospheric information; And an operation unit for receiving the waiting information sensed by the sensing unit for use in position and posture correction of the multi-copter in the flight control computer and calculating the wind direction and intensity.

The measurement case may be provided in a main body positioned at the center of the multi-copter.

And a separation supporting bracket may be provided between the measurement case and the main body so that the measurement case is spaced apart from the main body.

The separation support bracket may be detachably attached to the main body.

The sensing unit may include: a plurality of sensing holes formed in the measurement case; And a pressure sensor provided in the measurement case and corresponding to each of the sensing holes.

A part of the plurality of sensing holes may be formed in the upper curved portion of the measurement case, and the rest may be formed in the lower portion of the measurement case.

The measurement case may have a hemispherical shape composed of an upper curved portion that forms an upper portion thereof and an upper curved portion that is convexed upward and a lower flat portion that is a lower portion thereof.

The plurality of pressure sensors include respective upper pressure sensors placed in respective sensing holes formed in the upper portion of the measurement case; And a lower pressure sensor placed in the sensing hole formed in the lower portion of the measurement case.

Wherein each of the pressure sensors is capable of sensing an atmospheric pressure based on the atmospheric information, and the arithmetic section calculates at least one of an upper atmospheric pressure sensed by the upper pressure sensor and a reference atmospheric pressure sensed from the lower pressure sensor And calculates the intensity and direction of the wind based on the calculated respective differential pressures.

In another aspect of the present invention, there is provided a method of controlling a multi-copter, the method comprising: receiving data on the intensity and direction of the wind from the apparatus for measuring an atmospheric data for a multi-copter according to an embodiment of the present invention; Estimating a position or posture of the multi-copter to be changed in advance based on the received data; And changing the thrust of the propeller based on the predicted position or posture so that the multi-copter is maintained in its original position or posture.

The step of previously changing the thrust of the propeller may be performed before the position or attitude of the multi-copter is changed from the wind.

In the step of changing the thrust of the propeller in advance, the propeller motor may be controlled so that the thrust of the propeller changes in real time based on the predicted position or attitude.

As described above, the apparatus for measuring atmospheric data for a multi-copter according to an embodiment of the present invention and the multi-copter control method using the apparatus can have the following effects.

According to an embodiment of the present invention, there is provided an apparatus for measuring atmospheric data for a multi-copter including a measurement case, a sensing unit for sensing the atmospheric information, and an operation unit for receiving the atmospheric information and calculating the wind direction and intensity The method comprising the steps of: measuring wind direction and direction when an unstable atmospheric condition such as a gust or a downward current occurs; receiving data on the wind intensity and direction, And a step of previously changing the thrust of the propeller on the basis of the predicted position or posture, so that when an unstable atmospheric condition such as a gust or a descending airflow is generated, In this way, the propeller thrust can be changed in advance before the position or attitude of the multi-copter is changed. A stable flight can be achieved by minimizing the movement of the multi-copter, such that the copter can be at its maximum in its original position or can be kept as full as possible in its original position.

1 is a perspective view schematically showing a conventional multi-copter.
2 is a schematic view of a multi-copter equipped with an apparatus for measuring an atmospheric data for a multi-copter according to an embodiment of the present invention.
3 is a longitudinal sectional view schematically showing the apparatus for measuring an atmospheric data for the multi-copter of FIG.
4 is a block diagram illustrating components used in the method of controlling the multicoperator of FIG.
5 is a flowchart showing the multi-copter control method of FIG.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

FIG. 2 is a schematic view of a multi-copter equipped with an apparatus for measuring an atmospheric data for a multi-copter according to an embodiment of the present invention, and FIG. 3 is a longitudinal sectional view schematically showing an apparatus for measuring an atmospheric data for a multi- .

2, an apparatus 100 for measuring an atmospheric data for a multi-copter according to an embodiment of the present invention is used for a multi-copter 1 including a main body 10 and a flight control computer 11 A sensing unit 110, a sensing unit 120, and an operation unit 130, as shown in FIGS. 2 and 3. Hereinafter, each of the constituent elements will be described in detail with continued reference to Fig. 2 and Fig.

The main body 10 of the multi-copter 1 includes a flight control computer 11 and a sensor unit 12 for detecting a change in position or attitude of the multi-copter 1, And a battery 13 for supplying power to the motor 20 and the like.

The measurement case 110 is a component designed to be provided in the multi-copter 1. [ For example, as shown in FIG. 2, the measurement case 110 may be provided in the main body 10, which is placed at the center of the multi-copter 1 so that the weight of the multi-copter 1 is balanced.

Particularly, a separation supporting bracket 140 may be provided between the measurement case 110 and the main body 10 so that the measurement case 110 is spaced apart from the main body 10. Therefore, not only the upper surface of the measurement case 110 but also the lower surface of the measurement case 110 can be exposed to the atmosphere, thereby providing a condition for detecting more accurate atmospheric information.

Further, the separation supporting bracket 140 may be detachably provided to the main body 10. [ For example, although not shown, a flange (not shown) may be provided at an end portion of the separation supporting bracket 140 that is placed on the body portion 10 to connect the flange and the body portion 10 with bolts (not shown) Type detachable structure may be used. Therefore, the apparatus for measuring atmospheric data 100 for a multi-copter according to the present invention can be installed and used in a conventional multi-copter 1 through such a detachable structure. When the atmospheric conditions are stable, the weight of the multi- The atmospheric data measuring apparatus 100 for a multi-copter according to the present invention can be removed from the multi-copter 1. [

3, for example, the measurement case 110 has a hemispherical shape composed of an upper curved surface portion 111 which is formed as an upper portion thereof, an upper curved surface portion 111 which is convex upward, and a lower flat surface portion 112 which is formed as a lower portion thereof, Alternatively, although not shown as another example, the upper and lower portions may have a spherical shape convex upward and downward, respectively.

The sensing unit 120 is a component that is provided in the measurement case 110 and senses standby information. For example, as shown in FIGS. 2 and 3, the sensing unit 120 includes a plurality of sensing holes 121 formed in the measurement case 110 and a plurality of sensing holes 121 formed in the measurement case 110, And a pressure sensor 122 provided corresponding to the sensing hole 121 of the pressure sensor. Accordingly, the sensing unit 120 can sense the atmospheric pressure as the atmospheric information.

Particularly, a part of the plurality of detection holes 121 may be formed on the upper part of the measurement case 110, and the rest may be formed on the lower part of the measurement case 110. In this case, the plurality of pressure sensors 122 include respective upper pressure sensors 122a placed in respective detection holes formed in the upper part of the measurement case 110, And one lower pressure sensor 122b. Therefore, even if a downward current or a gust of air directed downward is generated, the atmospheric pressure sensed by the lower pressure sensor 122b, which is relatively less affected by the atmospheric pressure, can be set as the reference atmospheric pressure, By comparing the upper atmospheric pressure sensed by the pressure sensor 122a with the reference atmospheric pressure, a condition for predicting the intensity or intensity of wind to be applied to the multi-copter 1 by the computing unit 130, which will be described later, have.

The arithmetic unit 130 receives the atmospheric pressure (atmospheric pressure) sensed by the sensing unit 120 for use in correcting the position and attitude of the multi-copter 1 in the flight control computer 11 and calculates the wind direction and intensity Lt; / RTI > For example, the calculation unit 130 calculates the pressure difference between each of the upper atmospheric pressures detected from the respective upper pressure sensors 122a and one reference atmospheric pressure sensed from the lower pressure sensor 122b, And the direction and direction of the wind can be calculated by the respective differential pressures.

Illustratively, the operation unit 130 generates a three-dimensional three-dimensional pressure function using the pressure difference between each upper atmospheric pressure and one reference atmospheric pressure, and based on the thus generated three-dimensional pressure function, Direction can be calculated.

Accordingly, the unstable atmospheric conditions such as a gust or a downward current can be measured through the apparatus 100 for measuring an atmospheric data for a multi-copter according to an embodiment of the present invention.

4 and 5, a method of controlling the multi-copter equipped with the above-described apparatus 100 for measuring an atmospheric data will be described.

FIG. 4 is a block diagram illustrating components used in the multicoperator control method according to the present invention, and FIG. 5 is a flowchart illustrating a multicoperator control method of FIG.

First, the flight control computer 11 receives data on wind intensity and direction from the apparatus 100 for measuring an atmospheric data for a multi-copter according to an embodiment of the present invention (S110).

Then, based on the received data, the flight control computer 11 predicts the position and posture of the multi-copter 1 to be changed in advance (S120).

Thereafter, the flight control computer 11 changes the thrust of the propeller 40 in advance based on the predicted position or posture so that the multi-copter 1 is maintained at the original position or posture (S130). In particular, the step of changing the thrust of the propeller 40 in advance (S130) may be performed before the position or posture of the multi-copter 1 is changed from the wind. In step S130 of changing the thrust of the propeller 40 in advance, the flight control computer 11 controls the propeller motor 40 so that the thrust of the propeller 40 can be changed in real time based on the predicted position or posture 20).

For example, when a downward airflow is generated, the atmospheric data measuring apparatus 100 for a multi-copter immediately measures the wind intensity and direction, and the flight control computer 11 receives the measured data, So that the propeller 40 can be increased in thrust so that the multi-copter 1 can be maximally positioned at its original position or can be maintained at its original position as much as possible.

Therefore, since the multi-copter control method according to another embodiment of the present invention is provided, when an unstable atmospheric condition such as a gust or a down stream occurs, it is measured in advance and the propeller It is possible to make stable flight by minimizing the movement of the multi-copter 1 such that the multi-copter 1 can be maximally positioned at its original position or can be kept at its maximum position in a manner that the thrust of the multi- .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, Of the right.

1: Multi-copter 10:
20: propeller motor 40: propeller
11: flight control computer 100: atmospheric data measuring device for multi-copter
110: measurement case 111: upper curved portion
112: lower plane part 120: sensing part
121: plural detection holes 122: plural pressure sensors
122a: a plurality of upper pressure sensors 122b: a lower pressure sensor
130: computing unit 140: separation supporting bracket

Claims (13)

It is an airborne data measuring device for multi-copter used in multi-copter including main part and flight control computer.
A measuring case provided in the multi-copter;
A sensing unit provided in the measurement case for sensing atmospheric information; And
And an operation unit for receiving the wait information sensed by the sensing unit for use in position and posture correction of the multi-copter in the flight control computer and calculating wind direction and intensity,
Containing
Airborne data measuring device for multi - copter. The method of claim 1,
Wherein the measurement case is provided in the main body part located at the center of the multi-
Airborne data measuring device for multi - copter. 3. The method of claim 2,
A separation supporting bracket is provided between the measurement case and the main body so that the measurement case is spaced apart from the main body
Airborne data measuring device for multi - copter. 4. The method of claim 3,
And the separation supporting bracket is detachably mounted on the main body part
Airborne data measuring device for multi - copter. The method of claim 1,
The sensing unit
A plurality of sensing holes formed in the measurement case; And
And a pressure sensor provided in the measurement case and corresponding to each of the sensing holes,
Containing
Airborne data measuring device for multi - copter. The method of claim 5,
Among the plurality of detection holes
A part is formed on the upper part of the measurement case,
And the remainder is formed at the bottom of the measurement case
Airborne data measuring device for multi - copter. The method of claim 6,
In the measurement case,
And a hemispherical shape composed of an upper curved surface portion forming the upper portion and a convex upper surface portion and a lower flat surface portion forming a lower portion thereof and having a flat bottom portion
Airborne data measuring device for multi - copter. 8. The method of claim 7,
The plurality of pressure sensors
A respective upper pressure sensor placed in each of the sensing holes formed in the upper portion of the measurement case; And
A lower pressure sensor disposed in a sensing hole formed in a lower portion of the measurement case,
Containing
Airborne data measuring device for multi - copter. 9. The method of claim 8,
Wherein each of the pressure sensors comprises:
Sensing the atmospheric pressure with the atmospheric information,
The operation unit,
Calculating a pressure difference between each upper atmospheric pressure sensed by each of the upper pressure sensors and one reference atmospheric pressure sensed by the lower pressure sensor,
And calculates the intensity and direction of the wind by each of the calculated differential pressures
Airborne data measuring device for multi - copter. 10. A multicoperator comprising the apparatus for measuring atmospheric data for a multicoperator according to any one of claims 1 to 9. 10. A method for controlling a multicoperator according to claim 10,
Receiving data on the wind intensity and direction from the atmospheric data measurement device for the multi-copter;
Estimating a position or posture of the multi-copter to be changed in advance based on the received data; And
Changing the thrust of the propeller in advance based on the predicted position or posture so that the multi-copter is maintained in its original position or posture
Containing
Multicopter control method. 12. The method of claim 11,
The step of changing the thrust of the propeller in advance includes:
Before the position or attitude of the multi-copter is changed from the wind
Containing
Multicopter control method. 12. The method of claim 11,
In the step of changing the thrust of the propeller in advance,
The propeller motor is controlled so that the thrust of the propeller is changed in real time based on the predicted position or posture
Multicopter control method.
KR1020150122753A 2015-08-31 2015-08-31 Air data measuring apparatus for multi-copter, multi-copter equipped therewith, and multi-copter controlling method using the same KR101726653B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150122753A KR101726653B1 (en) 2015-08-31 2015-08-31 Air data measuring apparatus for multi-copter, multi-copter equipped therewith, and multi-copter controlling method using the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150122753A KR101726653B1 (en) 2015-08-31 2015-08-31 Air data measuring apparatus for multi-copter, multi-copter equipped therewith, and multi-copter controlling method using the same

Publications (2)

Publication Number Publication Date
KR20170025794A true KR20170025794A (en) 2017-03-08
KR101726653B1 KR101726653B1 (en) 2017-04-13

Family

ID=58404008

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150122753A KR101726653B1 (en) 2015-08-31 2015-08-31 Air data measuring apparatus for multi-copter, multi-copter equipped therewith, and multi-copter controlling method using the same

Country Status (1)

Country Link
KR (1) KR101726653B1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101867434B1 (en) * 2017-08-02 2018-06-15 한국항공우주연구원 device detecting rising wind and vortex ring state with differential pressure sensor
WO2019117458A1 (en) * 2017-12-15 2019-06-20 대한민국(행정안전부 국립재난안전연구원장) Air state detection floating device capable of remaining in air
CN111398624A (en) * 2020-03-06 2020-07-10 清远市智慧农业研究院 Device and method for testing penetrability of canopy of lower washing wind field

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0552864A (en) * 1991-08-22 1993-03-02 Mitsubishi Heavy Ind Ltd Wind vane and anemometer
JP2007290647A (en) * 2006-04-27 2007-11-08 Yamaha Motor Co Ltd Unmanned helicopter and external environment estimating device
KR20080099839A (en) * 2008-09-26 2008-11-13 노인철 The unmanned aerial vehicle have 4 legs and 4 motors
KR20090073630A (en) * 2007-12-31 2009-07-03 경남도립남해대학 산학협력단 Security system for unmanned aerial vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0552864A (en) * 1991-08-22 1993-03-02 Mitsubishi Heavy Ind Ltd Wind vane and anemometer
JP2007290647A (en) * 2006-04-27 2007-11-08 Yamaha Motor Co Ltd Unmanned helicopter and external environment estimating device
KR20090073630A (en) * 2007-12-31 2009-07-03 경남도립남해대학 산학협력단 Security system for unmanned aerial vehicle
KR20080099839A (en) * 2008-09-26 2008-11-13 노인철 The unmanned aerial vehicle have 4 legs and 4 motors

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101867434B1 (en) * 2017-08-02 2018-06-15 한국항공우주연구원 device detecting rising wind and vortex ring state with differential pressure sensor
WO2019117458A1 (en) * 2017-12-15 2019-06-20 대한민국(행정안전부 국립재난안전연구원장) Air state detection floating device capable of remaining in air
US11733226B2 (en) 2017-12-15 2023-08-22 National Disaster Management Institute Air state detection floating device capable of remaining in air
CN111398624A (en) * 2020-03-06 2020-07-10 清远市智慧农业研究院 Device and method for testing penetrability of canopy of lower washing wind field

Also Published As

Publication number Publication date
KR101726653B1 (en) 2017-04-13

Similar Documents

Publication Publication Date Title
US10571779B2 (en) Flying camera with string assembly for localization and interaction
EP1645505B1 (en) Unmanned helicopter and landing method for an unmanned helicopter
EP3397922B1 (en) Pressure tap structures for barometric altimeters for unmanned aerial vehicles
KR20140123835A (en) Apparatus for controlling unmanned aerial vehicle and method thereof
CN104503466B (en) A kind of Small and micro-satellite guider
KR102074637B1 (en) Flight Apparatus for Checking Structure
CN106225769B (en) Aircraft height setting method and system
JP2005115623A (en) Navigation system using image recognition
KR20150000053A (en) Method and Apparatus for Guiding Unmanned Aerial Vehicle and Method and Apparatus for Controlling Unmanned Aerial Vehicle
KR101873967B1 (en) Crash alarm system for drone
KR101762536B1 (en) The drone for obstacle avoidance and landing slope and the method of controlling thereof
KR101726653B1 (en) Air data measuring apparatus for multi-copter, multi-copter equipped therewith, and multi-copter controlling method using the same
KR20180012020A (en) Unmaned aerial vehicle accuracy landing system
JP2007245797A (en) Flight control device and flight vehicle furnished with flight control device
KR20180106605A (en) aircraft for indoor area monitoring system
WO2016048437A1 (en) Initial rotor state compensation for a rotorcraft
WO2018196641A1 (en) Aerial vehicle
US20110098967A1 (en) Method and System for Detecting Forces on Aircraft
JP3852842B2 (en) Flying object position and orientation measurement device
JP2008201183A (en) Attitude controlling device
KR102212029B1 (en) Ratating flying object
JP6979729B2 (en) Flying object
JP2018185255A (en) Unmanned aircraft vehicle
JP4399287B2 (en) Aircraft and aircraft wind direction estimation method
KR20190030144A (en) Apparatus for measuring propeller wash and drone with the same

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant