KR20170056098A - Method for calculating relative position of the vertical take-off and landing UAV and landing guide system for the UAV using the method - Google Patents
Method for calculating relative position of the vertical take-off and landing UAV and landing guide system for the UAV using the method Download PDFInfo
- Publication number
- KR20170056098A KR20170056098A KR1020150159204A KR20150159204A KR20170056098A KR 20170056098 A KR20170056098 A KR 20170056098A KR 1020150159204 A KR1020150159204 A KR 1020150159204A KR 20150159204 A KR20150159204 A KR 20150159204A KR 20170056098 A KR20170056098 A KR 20170056098A
- Authority
- KR
- South Korea
- Prior art keywords
- beacon
- uav
- landing
- fixed
- relative position
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
-
- 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
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/18—Visual or acoustic landing aids
- B64F1/20—Arrangement of optical beacons
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/04—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/15—Aircraft landing systems
-
- B64C2201/14—
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Mechanical Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
[0001] The present invention relates to a method for accurately calculating the relative position of a vertical take-off and landing unmanned aerial vehicle (UAV), and more particularly, A relative position precise calculation method of a vertical take-off and landing unmanned aerial vehicle (UAV) that accurately calculates a relative position of a UAV from a landing point through a signal and guides the UAV to land at a landing point through the UAV, and a UAV landing guidance system .
Generally, an unmanned aerial vehicle (UAV) refers to a flight capable of remote control by remote from a remote location without piloting the pilot, It is difficult to directly carry out military duties such as reconnaissance, bombardment, cargo transportation, forest fire monitoring, radioactive surveillance, etc., or to perform dangerous duties to carry out directly. However, recently, logistics (courier service) It is being developed so that it can be used in various private fields such as special shooting of broadcasting and movies, observation of traffic situation, and the like.
It is most important that the UAV is safely landed at the desired point after the mission is completed. Because the pilot is not on board, it is necessary to control the landing precisely so as not to fall in the course of landing on the ground or landing platform.
Conventionally, the landing control method using GPS and the landing control method using camera are mainly used as a method for controlling the landing of the UAV. In the prior art, the landing control method using the GPS is a method of controlling the UAV Although it is advantageous to configure the control system at a relatively low cost by controlling the UAV to land at the target position by comparing the coordinates of the target position, that is, the landing point, it is difficult to precisely measure the target position by the GPS error There are disadvantages.
Next, the landing control method using the camera recognizes the image pattern of the landing pad installed at the landing point by using the image captured by the camera provided in the UAV, calculates the relative position of the landing pad using the image pattern, The landing position can be recognized more precisely than the landing control method using the GPS sensor. However, due to the limitation of the weather due to the use of the camera image, the view of the camera is limited, There is a problem that it is necessary to have a device for processing the data.
SUMMARY OF THE INVENTION The present invention has been made in order to solve the problems of the conventional art as described above, and it is an object of the present invention to provide a method and apparatus for accurately calculating a relative position of an unmanned airplane from a landing point by using a beacon, And to guide the unmanned airplane to land at a landing point through the unmanned aircraft landing guidance system, and to provide an unmanned landing guidance system using the same.
According to an aspect of the present invention,
An unmanned airplane approaching step in which the unmanned airplane approaches a target point using a signal received through a first GPS sensor provided in the unmanned airplane; A beacon signal receiving step of receiving signals generated from a plurality of fixed beacons installed at a target point through a movable beacon provided in a UAV; And a relative position calculation step of calculating the relative position of the UAV from the target point by combining the beacon signals received via the movable beacon using a control unit provided in the UAV.
At this time, in the beacon signal receiving step, the signal generated from the fixed beacon is transmitted to the beacon center by using the LLA coordinates of the unmanned airplane centered on each beacon, the received signal strength index (RSSI) for measuring the distance to the target point, ID < / RTI >
The apparatus further includes a reliability verification step of comparing the relative position of the UAV calculated at the relative position calculation step and the coordinates of the UAV acquired through the first GPS sensor to determine the reliability of the calculated relative position.
The reliability verification step may include a fixed beacon self-diagnosis step of self-diagnosing status information including a real-time position of each fixed beacon through communication between fixed beacons.
At this time, a part of the fixed beacons are constituted by keypoint beacons including a second GPS sensor, and the fixed beacon self-diagnosis step uses the position signals from the second GPS sensor of the keypoint beacons and the distance from the keypoint beacons, And estimating an LLA coordinate.
In the meantime, according to the present invention, there is provided a vertical landing /
A first GPS sensor provided in a UAV; a plurality of fixed beacons installed at a predetermined distance from each other around a target point to transmit a position signal to an unmanned airplane; And a controller for controlling the flight of the unmanned airplane to a target point by combining the position signals received through the movable beacon and the position information of the unmanned airplane received through the first GPS sensor, .
At this time, the fixed beacon installed at the target point is any one of a low-power Bluetooth beacon (BLE Beacon) or a range beacon (Range Beacon).
In addition, some of the fixed beacons may be keypoint beacons including a second GPS sensor.
The fixed beacon is characterized in that connection lines of neighboring beacons are formed to be polygonal.
The landing pad may further include a landing pad of a polygonal shape installed at a landing target point of the unmanned airplane, wherein the fixed beacon is installed at a vertex of the landing pad.
In this case, the fixed beacon is configured to be able to self-diagnose its installed position through communication with each other.
Here, the signal transmitted by the communication between the fixed beacons includes information on the pad shape number, the pad size, the pad rotation angle, and the position number.
The control unit may include a calculation module for calculating a relative position of the unmanned airplane based on the target point using the position signals received through the mobile beacon, And a flight control module for controlling the flight of the UAV using the relative position information of the UAV and the GPS information calculated by the calculation module.
According to the present invention, it is possible to accurately calculate the relative position of the UAV from the landing target point by a simple configuration, thereby minimizing the error that may occur in the landing control of the UAV. Accordingly, Can be remarkably reduced.
In addition, according to the present invention, since a plurality of beacon assemblies installed at a landing target point enables the unmanned airplane to land at a target point accurately, it is possible to smoothly perform a mission such as logistics (courier) using an unmanned airplane Respectively.
Further, according to the present invention, the relative position of the UAV from the target point can be calculated by itself in the UAV, thereby controlling the flight, thereby greatly simplifying the configuration of the UAV for landing control of the UAV , It has the effect of drastically reducing the cost of constructing the landing guidance system of the unmanned airplane due to the simple configuration.
According to the present invention, a landing pad having a polygonal shape is provided at a landing target point, a fixed beacon is provided at each vertex of the landing pad, and the positional deviation occurs due to communication between fixed beacons, And has an effect of being able to find a fixed beacon by itself.
Brief Description of the Drawings Fig. 1 is a view schematically showing the configuration of a landing guidance system using a relative position accuracy calculation method of a vertical take-off and landing unmanned aerial vehicle according to the present invention.
Figure 2 shows another embodiment of the system shown in Figure 1;
Figures 3 (a) and 3 (b) illustrate the information conveyed by various embodiments of landing pads and communication between fixed beacons of the present invention shown in Figure 2;
FIG. 4 is a flowchart illustrating a method of calculating relative position accuracy of a vertical take-off and landing unmanned aerial vehicle according to the present invention.
5 is a conceptual diagram schematically showing a configuration of a landing guidance system according to the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
FIG. 1 is a view schematically showing a configuration of a landing guidance system using a relative position precise calculation method of a vertical take-off and landing unmanned aerial vehicle according to the present invention, FIG. 2 is a view showing another embodiment of the system shown in FIG. 1, (a) and (b) are views showing information transmitted by various embodiments of the landing pad and the communication between the fixed beacons of the present invention shown in Fig. 2, and Fig. 4 is a
The present invention accurately calculates a relative position of the
More specifically, the step of accessing the unmanned airplane (S 10) relates to a step of approaching a target unmanned airplane 100 (hereinafter referred to as an 'unmanned airplane 100') toward a target point for landing. The approach of the
That is, the current position is confirmed through the
Next, the beacon signal receiving step (S20) includes receiving signals generated from a plurality of
That is, a beacon, which means a short-range wireless communication technology using Bluetooth generally, can be wirelessly communicated in a range of about 50 to 100 m. Therefore, when the
The signal generated from the
Next, the ID is given to the identified
Meanwhile, a low-power Bluetooth low energy beacon (BLE beacon) or a range beacon may be used as the fixed
In addition, although the range beacon is higher than the BLE beacon, the range beacon is stronger and more accurate than the BLE beacon. When the range beacon is used as the
At this time, 'PulsON 410' or 'PulsON 440' of TIME DOMAIN can be used as the range beacon.
Next, the relative position calculation step S30 combines the beacon signals from the ground received via the
More specifically, when the target point to be landed by the
At this time, when only one
When three or more
2, a
That is, as shown in FIG. 3A, a
Meanwhile, the method for calculating relative position accuracy of a vertical take-off and landing unmanned aerial vehicle according to the present invention may further include a reliability verification step (S40). The reliability verification step (S40) And verifying the reliability of the relative position of the
That is, the relative position of the
The reliability verification step (S40) enables the
At this time, the reliability verification step (S40) may include a fixed beacon self verification step (S42), wherein the fixed beacon self verification step (S42) includes a plurality of fixed beacons (200) And realizing self-verification of information including the position of each fixed
More specifically, as shown in FIG. 2, a
The fixed
The fixed
Accordingly, the fixed
When the
That is, the geometric shape information of the
In this case, the information transmitted by the communication between the fixed
More specifically, the header serves to distinguish packetized information transmitted by communication between fixed
Next, the pad size is used to confirm the size of the
Next, the pad rotation angle is used to identify the direction in which the
Next, the position number indicates the vertex position number of the
Next, the other setting information is used to store additional information according to a necessary situation in the landing guide process of the
Therefore, by transmitting the information including the above contents to each other through communication between the fixed
When the reliability verification of the relative position of the
If the verification of the relative position of the
When the fixed
As shown in FIG. 5, the unmanned airplane landing guidance system using the method for calculating the relative position of an unmanned airplane according to the present invention includes a
More specifically, the
Next, the fixed
A plurality of fixed
As described above, the
Next, the
That is, when the
Next, the
More specifically, the
Next, the
Therefore, according to the method of calculating the relative position accuracy of the vertical take-off and landing unmanned aerial vehicle according to the present invention and the unmanned landing guidance system using the same, the relative position of the
Although the preferred embodiments of the present invention have been described for illustrative purposes, those skilled in the art will readily appreciate that many modifications are possible in the exemplary embodiments without materially departing from the novel teachings and advantages of this invention.
[0001] The present invention relates to a method for accurately calculating the relative position of a vertical take-off and landing unmanned aerial vehicle (UAV), and more particularly, A relative position precise calculation method of a vertical take-off and landing unmanned aerial vehicle (UAV) that accurately calculates a relative position of a UAV from a landing point through a signal and guides the UAV to land at a landing point through the UAV, and a UAV landing guidance system .
100: unmanned (flight) machine 110: first GPS sensor
120: movable beacon 130:
132: operation module 134: verification module
136: Flight control module 200: Fixed beacon
210: keypoint beacon 220: second GPS sensor
300: Landing pad
S10: Accessing the unmanned airplane Step S20: Receiving the beacon signal
S30: relative position calculation step S40: reliability verification step
Claims (13)
A beacon signal receiving step of receiving signals generated from a plurality of fixed beacons installed at a target point through a movable beacon provided in a UAV;
And calculating a relative position of the UAV from the target point by combining the beacon signals received via the movable beacon using a control unit provided in the UAV. Relative position precision calculation method.
In the beacon signal receiving step, the signal generated from the fixed beacon includes the LLA coordinates of the unmanned airplane centered on each beacon, the RSSI for measuring the distance to the target point, and the ID for identifying the unmanned airplane And calculating the relative position precision of the vertical takeoff / landing unmanned aerial vehicle.
Further comprising a reliability verification step of determining reliability of the calculated relative position by comparing the relative position of the UAV calculated at the relative position calculation step with the coordinates of the UAV acquired through the first GPS sensor, A method for calculating the relative position of a UAV.
Wherein the reliability verification step includes a fixed beacon self-diagnosis step of self-diagnosing status information including a real-time position of each fixed beacon through communication between fixed beacons.
Wherein the fixed beacon self-diagnosis step includes a step of detecting the LLA coordinates of each fixed beacon using the position signal from the second GPS sensor and the distance from the keypoint beacon, And estimating the relative position accuracy of the vertical takeoff / landing unmanned aerial vehicle.
A plurality of fixed beacons which are installed at a predetermined distance from each other around the target point and transmit position signals to the unmanned airplane,
A mobile beacon provided in the unmanned airplane and receiving a position signal transmitted from the fixed beacon,
And a controller for controlling the flight of the unmanned airplane to the target point by combining the position signal received through the mobile beacon and the position information of the unmanned airplane received through the first GPS sensor, Landing guidance system for vertical takeoff and landing.
Wherein the fixed beacon installed at the target point is any one of a low power Bluetooth beacon or a range beacon.
Wherein a part of the fixed beacons comprises keypoint beacons including a second GPS sensor.
Wherein the fixed beacon is installed so that connection lines of neighboring beacons are formed in a polygonal shape.
Further comprising a landing pad of a polygonal shape installed at a landing target point of the unmanned airplane, wherein the fixed beacon is installed at a vertex of the landing pad.
Wherein the fixed beacon is configured to self-diagnose its installation position through communication between the fixed beacons.
Wherein the signal transmitted by the communication between the fixed beacons includes information on a pad shape number, a pad size, a pad rotation angle, and a position number.
The control unit includes a calculation module for calculating a relative position of an unmanned airplane around a target point using position signals received via a mobile beacon,
A verification module for comparing a relative position of the UAV calculated by the calculation module with position information obtained through a GPS sensor,
And a flight control module for controlling the flight of the UAV by using the relative position information and the GPS information of the UAV calculated by the calculation module.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020150159204A KR101798996B1 (en) | 2015-11-12 | 2015-11-12 | Method for calculating relative position of the vertical take-off and landing UAV and landing guide system for the UAV using the method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020150159204A KR101798996B1 (en) | 2015-11-12 | 2015-11-12 | Method for calculating relative position of the vertical take-off and landing UAV and landing guide system for the UAV using the method |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20170056098A true KR20170056098A (en) | 2017-05-23 |
KR101798996B1 KR101798996B1 (en) | 2017-11-21 |
Family
ID=59050388
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020150159204A KR101798996B1 (en) | 2015-11-12 | 2015-11-12 | Method for calculating relative position of the vertical take-off and landing UAV and landing guide system for the UAV using the method |
Country Status (1)
Country | Link |
---|---|
KR (1) | KR101798996B1 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107576329A (en) * | 2017-07-10 | 2018-01-12 | 西北工业大学 | Fixed-wing unmanned plane based on machine vision drop guiding cooperation beacon design method |
KR20190052849A (en) * | 2017-11-09 | 2019-05-17 | 현대자동차주식회사 | Apparatus for controlling taking off and landing of a dron in a vehicle and method thereof |
US10710719B1 (en) * | 2018-04-23 | 2020-07-14 | Amazon Technologies, Inc. | Deployable navigation beacons |
CN112764430A (en) * | 2021-04-07 | 2021-05-07 | 北京三快在线科技有限公司 | Unmanned aerial vehicle grounding judgment method and device, medium, electronic equipment and unmanned aerial vehicle |
KR102263294B1 (en) * | 2020-12-04 | 2021-06-09 | 세종대학교산학협력단 | System and method for flight control of unmanned aerial vehicle |
KR20210083086A (en) * | 2019-12-26 | 2021-07-06 | 우리항행기술(주) | Radio positioning system and navigation method for unmanned aerial vehicle |
US20220028289A1 (en) * | 2020-07-23 | 2022-01-27 | Aurora Flight Sciences Corporation, a subsidiary of The Boeing Company | System for navigating an aircraft based on infrared beacon signals |
KR102432545B1 (en) * | 2021-08-05 | 2022-08-12 | 세종대학교산학협력단 | Location verification method and system for smart city, and mobile communication device therefor |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102088716B1 (en) * | 2019-11-19 | 2020-03-13 | 세종대학교산학협력단 | Method and system for confirming integrity of gps data |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101527210B1 (en) * | 2014-12-01 | 2015-06-09 | 이병철 | A Drone Taking off and Landing System and a Managing Method thereof |
-
2015
- 2015-11-12 KR KR1020150159204A patent/KR101798996B1/en active IP Right Grant
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107576329A (en) * | 2017-07-10 | 2018-01-12 | 西北工业大学 | Fixed-wing unmanned plane based on machine vision drop guiding cooperation beacon design method |
CN107576329B (en) * | 2017-07-10 | 2020-07-03 | 西北工业大学 | Fixed wing unmanned aerial vehicle landing guiding cooperative beacon design method based on machine vision |
KR20190052849A (en) * | 2017-11-09 | 2019-05-17 | 현대자동차주식회사 | Apparatus for controlling taking off and landing of a dron in a vehicle and method thereof |
US10710719B1 (en) * | 2018-04-23 | 2020-07-14 | Amazon Technologies, Inc. | Deployable navigation beacons |
US11673666B1 (en) | 2018-04-23 | 2023-06-13 | Amazon Technologies, Inc. | Deployable navigation beacons |
KR20210083086A (en) * | 2019-12-26 | 2021-07-06 | 우리항행기술(주) | Radio positioning system and navigation method for unmanned aerial vehicle |
US20220028289A1 (en) * | 2020-07-23 | 2022-01-27 | Aurora Flight Sciences Corporation, a subsidiary of The Boeing Company | System for navigating an aircraft based on infrared beacon signals |
KR102263294B1 (en) * | 2020-12-04 | 2021-06-09 | 세종대학교산학협력단 | System and method for flight control of unmanned aerial vehicle |
CN112764430A (en) * | 2021-04-07 | 2021-05-07 | 北京三快在线科技有限公司 | Unmanned aerial vehicle grounding judgment method and device, medium, electronic equipment and unmanned aerial vehicle |
KR102432545B1 (en) * | 2021-08-05 | 2022-08-12 | 세종대학교산학협력단 | Location verification method and system for smart city, and mobile communication device therefor |
US11889384B2 (en) | 2021-08-05 | 2024-01-30 | Industry Academy Cooperation Foundation Of Sejong University | Location verification method and system for smart city, and mobile communication device therefor |
Also Published As
Publication number | Publication date |
---|---|
KR101798996B1 (en) | 2017-11-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR101798996B1 (en) | Method for calculating relative position of the vertical take-off and landing UAV and landing guide system for the UAV using the method | |
US10713958B2 (en) | Automated landing solution systems and methods | |
US9754498B2 (en) | Follow-me system for unmanned aircraft vehicles | |
US20170261977A1 (en) | Unmanned aircraft systems and methods to interact with specifically intended objects | |
CN102608636B (en) | Stepping inquiry-response locating system for flight data recorder | |
JP6691096B2 (en) | Deception signal detection system and deception signal detection method | |
US11427317B2 (en) | Vehicle having drone landing functionality | |
CN108513640B (en) | Control method of movable platform and movable platform | |
EP2835708A2 (en) | Method and system for remotely controlling a vehicle | |
CN102955478A (en) | Unmanned aerial vehicle flying control method and unmanned aerial vehicle flying control system | |
KR102088989B1 (en) | Method and apparatus for landing guidance of unmanned aerial vehicle | |
CN108351620A (en) | Method and apparatus for operating mobile platform | |
KR101438289B1 (en) | Altitude information obtention system using a complex navigation equipment | |
KR20160133806A (en) | Method and apparatus for guiding unmanned aerial vehicle | |
JP7190699B2 (en) | Flight system and landing control method | |
US11086020B2 (en) | Position measurement system for movable body | |
KR20190054432A (en) | Apparatus and method for inducing landing of drone | |
CN111204467A (en) | Method and system for identifying and displaying suspicious aircraft | |
KR102563259B1 (en) | Method and system for providing landing guidance using variable marker | |
KR102357299B1 (en) | Operating Methods of Unmanned Aircraft Using a Precision Landing System of an Unmanned Aircraft capable of Reproductive Correction of RTK | |
KR102357302B1 (en) | Mobile UAV Precision Landing Control Unit with Relative Calibration of RTK | |
KR20160089132A (en) | The moving vehicle docking system and method for drone pilotless aircraft | |
US20210272434A1 (en) | Detection device, detection method, robot, and program | |
US20200380873A1 (en) | Method and system for preventing collisions between aircraft and other flying objects | |
KR20170123801A (en) | Method and apparatus for keeping horizontal position accuracy for taking off and landing of unmanned air vehicle |
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 |