KR20170092205A

KR20170092205A - Flight Control Method of Unmanned Aerial Vehicle Based on Ultra Wideband Location and Apparatus therefor, Ultra Wideband Based Location System

Info

Publication number: KR20170092205A
Application number: KR1020160013233A
Authority: KR
Inventors: 이찬길
Original assignee: 한양대학교 에리카산학협력단
Priority date: 2016-02-03
Filing date: 2016-02-03
Publication date: 2017-08-11
Also published as: KR101914336B1

Abstract

Disclosed are a flight control method of an unmanned aerial vehicle based on an ultra-wideband location and an apparatus therefore, and an ultra-wideband based location system. According to an embodiment of the present invention, the flight control method of an unmanned aerial vehicle comprises the following steps of: setting an interesting area with respect to a flight area of an unmanned aerial vehicle; determining whether a flight area of the unmanned aerial vehicle is the interesting area; and controlling flight of the unmanned aerial vehicle based on the ultra-wideband (UWB) location when the flight area of the unmanned aerial vehicle is the interesting area.

Description

TECHNICAL FIELD [0001] The present invention relates to a method and apparatus for flight control of an unmanned aerial vehicle based on ultra-wideband positioning, an ultra wideband positioning system,

More particularly, the present invention relates to an unmanned airplane flight control method and apparatus capable of controlling an unmanned airplane flight based on an ultra-wideband, positioning an unmanned airplane based on an ultra-wideband, .

To track the flight path of an unmanned airplane, the position and speed of the unmanned airplane must be continuously monitored. If you know your position and speed is wrong, the correct command will not be generated and your mission will fail. The navigation technology of the manned aircraft and the navigation technology of the unmanned airplane are almost the same. Especially, the unmanned airplane is different from the manned aircraft in that the low-cost and small-sized aircraft are mostly used because of low cost and small navigation sensors. have.

Representative systems used for navigation include Inertial Navigation System, Global Navigation Positioning System, Vision-based Navigation System, Terrain Referenced Navigation System, , And Database Referenced Navigation System. In particular, technologies such as SLAM (Simultaneous Localization and Mapping) are applied for indoor flight.

In the case of the inertial navigation system, the current position is estimated through the integration using the acceleration sensor and the gyro sensor, and the navigation error increases with time. In the case of small unmanned aerial vehicles, inexpensive MEMS (Micro Electro Mechanical Systems) based IMU (Inertial Measurement Unit) is mainly used. In case of MEMS based IMU, sensor error is relatively large. In this case, it is common to use INS / GPS or IMU / GPS by combining with a satellite navigation system using a Kalman filter or the like.

The satellite navigation system is a navigation system using satellite signals and provides position and speed information of the unmanned airplane. In case of satellite navigation system, the inertial navigation system and filter are used in combination to correct the altitude information. Especially, in the case of multi-copter or rotorcraft aircraft, it is necessary to have more precise navigation information because it is not precisely controlled when the error of position information is large.

In recent years, technologies for extracting navigation information using image information have been attracting attention, and in the case of images, various information can be collected even if only a low-cost camera is used. Optical flow, image matching, and feature point tracking are applied to image navigation technology.

In addition to this, researches on geographical reference navigation that extracts the current location using information of the terrain in which the UAV is flying are actively conducted, and databases such as geomagnetism and gravity gradient are made into databases, Are being studied. Especially, when the unmanned airplane is flying indoors, it can not receive the satellite navigation signal, so it must perform the navigation by fusing the image or the inertial navigation system information. Also, by using SLAM (Simultaneous Localization and Mapping) A technique of extracting the position of a person around the aircraft while generating a map around the aircraft is being applied.

However, the inertial navigation method increases the positioning error over time, and since the range of errors in the satellite navigation method is within a range of several to several tens of meters, it is impossible to perform the indoor positioning. Therefore, in most navigation methods, IMU and GPS are used in combination, A Kalman filter should be used. In addition, image - based navigation, terrain reference navigation, and database - based navigation have difficulties in high - precision positioning in various terrains, and require a large amount of computation for image or data processing, which is disadvantageous in power consumption.

Embodiments of the present invention provide an unmanned airplane flight control method, apparatus, and positioning system capable of controlling an unmanned airplane based on an ultra-wideband and positioning an unmanned airplane based on an ultra-wideband.

Specifically, the embodiments of the present invention perform flight control on the basis of ultra-wideband in a predetermined area of interest of the unmanned airplane, and perform flight control on the basis of GPS for areas other than the area of interest And a UWB flight control method, apparatus, and positioning system that performs UWB-based positioning only in a region of interest requiring high-precision positioning.

According to another aspect of the present invention, there is provided a control method for an unmanned airplane, the method comprising: setting an area of interest for an unmanned airplane; Determining whether the flight area of the unmanned aerial vehicle is the area of interest; And controlling the flight of the UAV based on UWB positioning when the flight area of the UAV is the area of interest.

Further, the method for controlling an unmanned airplane according to an embodiment of the present invention may further include controlling the flight of the unmanned airplane based on a GPS positioning when the flight area of the unmanned airplane is not the area of interest.

The step of controlling the flight of the UAV based on the UWB positioning can control the flight of the UAV on the basis of the UWB positioning through UWB communication with a plurality of anchors installed in the ROI.

According to another aspect of the present invention, there is provided an apparatus for controlling an unmanned airplane, comprising: a setting unit for setting an area of interest for an unmanned airplane; A determination unit determining whether the flight area of the unmanned aerial vehicle is the area of interest; And a control unit for controlling the flight of the unmanned air vehicle based on UWB positioning when the flight area of the UAV is the area of interest.

The control unit may control the flight of the UAV based on the GPS positioning when the flight area of the UAV is not the area of interest.

The control unit may control the flight of the UAV based on the UWB positioning through UWB communication with a plurality of anchors installed in the ROI.

The UWB-based positioning system according to an embodiment of the present invention includes a plurality of anchors installed in a predetermined area of interest, receiving UWB signals transmitted from at least one UAV, and transmitting positioning data to the UAV ; An anchor controller for collecting a time stamp for reception of the UWB signal from each of the plurality of anchors; And a positioning server for receiving the time stamp from the anchor controller and calculating the positioning data of the unmanned aerial vehicle.

The plurality of anchors may include at least one anchor master, and the anchor master may receive the positioning data from the anchor controller and transmit the positioning data to the unmanned aircraft.

Each of the plurality of anchors includes an ultra wide band (UWB) module unit for performing UWB communication with the UAV; A Narrow-Band RF (NBRF) module for transmitting the positioning data to the UAV; And generating the time stamp for the UWB signal received through the UWB module unit and providing the time stamp to the anchor controller, and transmitting the positioning data calculated by the positioning server to the UWB through the narrowband wireless module unit And a control unit.

Wherein the anchor controller generates a frame synchronization signal and provides the frame synchronization signal to the plurality of anchors, and at least one of the plurality of anchors transmits the frame synchronization signal to the unmanned air vehicle, And may receive the UWB signal transmitted through its slot in the UAV.

The positioning server can calculate the positioning data using any one of a Time of Flight (ToF) method and a Time Difference of Arrival (TDoA) method.

According to the embodiments of the present invention, it is possible to perform flight control on a predetermined area of the unmanned airplane, for example, an ultra-wideband based on the area of interest, and to control the area other than the area of interest, (Real-Time Location System), for example, RTLS (Real-Time Location System) for performing UWB-based positioning in a region of interest requiring high-precision positioning by performing flight control on the basis of GPS It is possible.

According to the embodiments of the present invention, since it is possible to navigate to a hybrid positioning system using low-precision positioning using GPS and high-precision positioning based on ultra-wideband, it is possible to apply a wide variety of application fields of drone, for example, .

That is, when the combined positioning method of the present invention is used, the system can be economically and effectively implemented in a navigation field requiring low precision, high precision, or high precision positioning. For example, when applied to a waiter drones serving as a waiter inside a restaurant, only indoor high precision positioning is required. In the case of agriculture or animal husbandry, it is required to move from office to farm or house, Precise / high-precision positioning can be required at the same time. In addition, if the dron needs precise arrival / landing control in logistics transport, it is possible to perform sophisticated delivery and return if a high-precision UWB positioning system is installed at the arrival / landing point.

In addition, the present invention can be applied to the operation of a dragon flight to display LED characters or symbols in the air, or to indoor transportation such as food in a restaurant.

Fig. 1 shows an exemplary diagram for explaining the present invention.
FIG. 2 shows a configuration of an unmanned aerial vehicle shown in FIG. 1 according to an embodiment of the present invention.
FIG. 3 shows a configuration of an embodiment of the MCU shown in FIG.
4 is a block diagram of a UWB-based positioning system according to an embodiment of the present invention.
FIG. 5 shows an embodiment of the anchor shown in FIG.
6 shows an example of network synchronization for high-speed positioning.
7 shows an example of time slots for tag, anchor synchronization, and UWB transmission at TDoA positioning.
FIG. 8 is a diagram illustrating an example of text and symbols displayed through a flight of a drones according to an embodiment of the present invention.
9 is a flowchart illustrating an operation of the unmanned airplane flight control method according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to or limited by the embodiments. In addition, the same reference numerals shown in the drawings denote the same members.

Most drones use IMU / GPS outdoors and use a navigation method that reduces the measurement error with a Kalman filter. However, GPS errors can be several to several tens of meters in urban environments with buildings and other artificial obstacles. SLAM technology, which is a fusion of IMU and image information, is used indoors, but it is complicated and needs to be optimized according to various environments .

Embodiments of the present invention are intended to supplement the limitations of positioning accuracy and the impossibility of positioning in a room using a network-based UWB positioning technique in a method using IMU / GPS and Kalman filter.

In other words, the embodiments of the present invention perform flight control based on the GPS positioning based on an area in which positioning with low accuracy (several to several tens of meters in positioning error) is permitted, for example, in an outdoor or non- For example, in the case of indoor or area of interest, it is possible to perform flight control by using network-based UWB navigation.

Fig. 1 shows an exemplary diagram for explaining the present invention.

As shown in FIG. 1, the flight area of the UAV is divided into a region of interest (work area) A, which is a high-precision navigation area, and a region of non-interest (simple flight area), which is a low precision navigation area.

That is, in the high-precision navigation area, which is an area of interest, the UAV 100 according to the present invention performs flight control based on UWB positioning using the ultra-wideband positioning system 200 installed in the ROI, In the navigation area, flight control is performed based on the existing GPS positioning basis, ie, IMU / GPS positioning.

Hereinafter, it is assumed that the unmanned airplane is a dragon.

2, the drones 100 include a GPS receiver 120 for low-precision positioning, a UWB module (not shown) communicating with an ultra-wideband-based positioning system specifically located in an area of interest for high- A Narrow-Band RF (NBRF) module 140 for receiving a frame synchronizing signal and positioning data from an UWB-based positioning system when a plurality of drones perform UWB communication with an UWB-based positioning system, actuators, sensors and a controller (MCU) 110 for controlling the drone. Of course, the configuration shown in Fig. 2 shows only the configuration related to the present invention, and the configurations constituting the other drones are omitted.

The actuator may include an ESC (Electric Speed Controller) for controlling the speed and direction of the drone under the control of the controller 110 as well as a driving device required for applications such as LEDs. The sensor may include an IMU (Inertia Measurement Unit) And may include various sensors depending on applications such as a camera.

The controller 110 includes a setting unit 111, a determination unit 112, and a control unit 113, as shown in FIG. 3, for controlling the flight of the drones according to the present invention.

The setting unit 111 sets the flying area of the drones as a region of interest, for example, a working area and a non-interest area, for example, a simple flying area.

Specifically, the setting unit 111 can set a region of interest and a region of non-interest by setting a region of interest flight for the drones.

Here, the setting unit 111 may set the region of interest using the position information of the flying region of the drones, and the set region information may be stored in the storage means mounted on the drone.

The determination unit 112 determines whether the current flying area of the drones is a region of interest.

That is, the determination unit 112 determines whether the current flying area of the drones is in a region of interest set by the setting unit or in a region of non-interest other than the region of interest, It can be determined whether the flying area of the drones is an area of interest.

If it is determined that the flying area of the drones is a region of interest as a result of the determination by the determination unit 112, the controller 113 controls the flight of the drones based on the UWB positioning, To control the drones' flight.

For example, the control unit 113 controls the UWB module and the NBRF module to control the UWB module when the flight area of the drones is an area of interest, UWB communication with the ultra wideband positioning system using the module, and controls the flight of the drone based on the UWB positioning using the frame synchronization signal and the positioning data received through the NBRF module.

4 is a block diagram of a UWB-based positioning system according to an embodiment of the present invention.

4, the UWB positioning system 400 includes a plurality of anchors 410 including an anchor master, an anchor controller 420, and a positioning server 430.

At this time, depending on the size of the positioning system, the anchor controller may perform the positioning server function together, or the anchor controller and the positioning server may be separated to perform the respective functions separately.

A plurality of anchors 410 are installed in the area of interest of the drones and receive UWB signals, for example UWB blinking signals, transmitted from the drone through UWB communication with the drones, and are transmitted to the anchor controller 420 And the positioning data of the drones calculated by the positioning server 430 are transmitted to the drone.

At this time, each of the plurality of anchors 410 may receive the UWB signal transmitted by the drones through its slot.

The plurality of anchors 410 receive the UWB signal transmitted from the drones 100, for example, a UWB blinking signal, and provide a time stamp generated by generating a time stamp to the anchor controller 420, 420 to perform frame synchronization, and the anchor master included in the plurality of anchors transmits the frame synchronization signal and the positioning data calculated by the positioning server 430 to the drone.

Here, the anchor master means an anchor for transmitting a synchronization signal and position information for acquiring synchronization and position information of a tag mounted on the drones 100.

As shown in FIG. 4, the region of interest may be divided into a plurality of clusters (clusters 1 to N) including anchors, each of the clusters may include one anchor master, And the anchor controller may be connected by wire or wirelessly.

If the UWB positioning is a two-dimensional positioning of the TDoA scheme, at least three anchors must receive the UWB signal from the drones, so that they should be placed optimally in the installation environment. That is, a plurality of anchors can be optimally arranged to correspond to the UWB positioning method.

Each of the plurality of anchors 410 includes an UWB module 411, an NBRF module 412, and a controller 413, as shown in FIG. Of course, the anchor does not include only the configuration of FIG. 5 but may include all configurations related to the anchor.

The UWB module unit 411 receives the UWB signal, for example, the UWB blinking signal, transmitted from the drone by performing UWB communication with the drones.

The NBRF module unit 412 is a means for time-division UWB communication with the drone, and transmits the frame synchronization signal and the positioning data to the drone.

At this time, the frame synchronization signal and the positioning data may be transmitted from the anchor master to the drone, or from the at least one anchor to the drone.

The controller 413 generates a time stamp for the UWB signal received through the UWB module 411 and provides the time stamp to the anchor controller. The controller 413 receives the positioning data calculated by the positioning server and the frame synchronization signal generated by the anchor controller, And transmits it to the drone through the module unit 412.

Each of these anchors may include a network interface (network I / F) for interworking with the anchor controller.

The anchor controller 420 collects time stamps for reception of the UWB signals transmitted from the drones from a plurality of anchors provided in the area of interest and provides the time stamps to the positioning server 430 to generate a frame synchronization signal for frame synchronization, Of anchors.

Further, the anchor controller 420 collects a time stamp, which is the time at which the signal transmitted from the tag mounted on the dron 100 reaches the anchor, and transmits it to the positioning server 430 as well as the master clock distribution for time synchronization of the anchor And control, anchor program update, and the like.

The positioning server 430 receives the time stamps collected from the anchor controller 420 and calculates positioning data of the drones.

At this time, the positioning server 430 can estimate the position of the drones using a filtering algorithm, and the estimated positioning data can be transmitted to the drone through the NBRF channel through the anchor controller and the anchor master.

At this time, the positioning server 430 can calculate positioning data using either a time-of-flight (ToF) method or a time difference of arrival (TDoA) method.

ToF scheme is advantageous in that it does not need synchronization between anchors, but it needs to use SDS-TWR (Symmetric Double Sided-Two Way Ranging) method which measures distances by two-way communication with a drone. . In the TDoA method, the UWB module of the drone has a disadvantage in that the UWB module of the transmission and the anchor are only receiving, and therefore the channel occupancy is lower than that of the ToF, but the time synchronization is required between the anchors. That is, when the number of positioning drone is large and high-speed positioning is required, the use of TDoA may be advantageous.

In order to measure the position of a tag mounted on a drone at high speed, it is advantageous that a contention-based MAC scheme based on a contention-free scheme increases the number of tags. In a contention-based protocol, unnecessary energy loss may occur because two or more nodes may collide in a hidden-terminal situation when a channel is accessed. The mechanism for mitigating this may include ALOHA, slotted ALOHA or CSMA have. The schedule-based protocol has a TDMA scheme (where the TDMA scheme may not idle listen) that allocates transmission and reception time slots and maintains a sleep state for other times. That is, there is no need for a special mechanism to avoid the hidden-terminal situation since the transmission schedule can be calculated without collision at the receiver. On the other hand, signal traffic for scheduling setup and maintenance is required, especially when the topology changes, additional signal traffic for time synchronization is needed. Also, resynchronization is often needed if clock drift can not be ignored. There is a problem that it is difficult to manage a schedule to adapt to a case of canceling a channel that is not used particularly when the traffic load is changed.

Embodiments of the present invention provide a time division (TDM) synchronization scheme in which the number of groups of drones is fixed, traffic is scheduled, and the tag keeps sleeping in the remaining slots while transmitting the UWB only to the time slot given to the tag Can be used. This will be described with reference to FIGS. 6 and 7. FIG.

FIG. 6 shows an example of network synchronization for high-speed positioning, and FIG. 7 shows an example of time slots for tag, anchor synchronization, and UWB transmission at TDoA positioning.

6 and 7, assuming that the transmission radius of the NBRF synchronous signal of the anchor master is r, the operating radius of the NBRF is generally 500 m or more at an output of 10 mW, and the UWB transmission radius of the tag is -41 dBm / MHz output.

The anchor controller transmits the synchronous signal to the anchor masters 1 to 4 at the Tsync / 4 time interval by wire. That is, each anchor master transmits a synchronization signal every Tsync period. When the distance between the anchor controller and the anchor master can not be ignored, the anchor controller performs delay compensation so that the synchronization signal can reach each anchor master. At this time, the anchor controller can compensate the delay by considering the distance difference to each anchor when transmitting the synchronization signal to the anchor master. The anchor master that receives the synchronization signal from the anchor controller wirelessly broadcasts the synchronization signal and supplies the synchronization signal to the tag in the operation area.

The tag that receives the wireless synchronization signal from the anchor master starts its internal counter to calculate its slot time and transmits the UWB signal when it reaches the transmission time. Depending on the situation, there may be a tag that does not receive the sync signal from the anchor master. In this case, Tsync / 4 hour internal timer can be used. That is, when the wireless synchronization signal is not generated at Tsync / 4 time, a timeout of the internal timer occurs and the time slot is calculated based on the timeout. In this way, when the anchor master supplies the wireless synchronization signal to the tag, the collision can be eliminated and the slot calculation error due to the tag clock offset / drift can be reduced. For example, if Tsync is 32ms, if a tag using a 20ppm clock receives a sync signal at least every 32ms and then resets the internal clock, an error of up to 0.64s can occur. When two synchronous signals are received, 0.32 μs synchronization error occurs. This is considered as margin when designing the time slot, so that collision between tags can be prevented.

The transmission frame of the anchor master may be composed of a synchronization field and a data field for informing N tags of position information.

When the present invention is applied to a dron with one or N x N LEDs, text or characters such as "Korea" are displayed in the air as shown in FIG. 8A through flight flight using the high- Alternatively, as shown in FIG. 8B, a symbol such as a heart or a picture may be displayed in the air.

The present invention may also be applied to a waiter drones that accurately transports food ordered at an indoor restaurant.

As described above, in the embodiments of the present invention, a network for UWB positioning is installed only in a region of interest where high-precision positioning is performed, Can be used to minimize the installation of the network.

9 is a flowchart illustrating an operation of the unmanned airplane flight control method according to an embodiment of the present invention.

Referring to FIG. 9, the method for controlling an unmanned airplane according to the present invention sets a region of interest (or a high-precision positioning region) for a flight region of a drones (S910).

If it is determined in step S910 that the current flying area of the drones is the set area of interest, it is determined that the current flying area is the area of interest. If it is determined that the current flying area is the area of interest, (S920, S930).

In step S930, it is possible to control the flight of the drone on the basis of the UWB positioning based on UWB communication with a plurality of anchors installed in the ROI, and it is possible to control the flight of the drones from at least one of the plurality of anchors or the plurality of anchors And the flight control of the drones can be performed based on the transmitted positioning data.

On the other hand, if it is determined in step S920 that the current flying area is not the RO area, that is, if the flying area of the drones is a non-RO area, the Dron's flight is controlled based on the GPS positioning (S940).

Although not shown in FIG. 9, once the drones have completed their work in the area of interest, they can perform flight control of the drones with flight control in the non-interest area. That is, when the work in the area of interest of the drone is completed, the control of the drone is controlled based on the GPS positioning.

The method for controlling the unmanned airplane according to the embodiment of the present invention may include not only the contents shown in FIG. 9 but also the contents described in FIG. 1 to FIG.

The system or apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the systems, devices, and components described in the embodiments may be implemented in various forms such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array ), A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to embodiments may be implemented in the form of a program instruction that may be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

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. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims

Setting an area of interest for the flight area of the UAV;
Determining whether the flight area of the unmanned aerial vehicle is the area of interest; And
Controlling the flight of the UAV on the basis of UWB positioning when the flight area of the UAV is the area of interest;
And a control unit for controlling the operation of the unmanned airplane.

The method according to claim 1,
Controlling the flight of the unmanned airplane based on GPS positioning when the flight area of the unmanned airplane is not the area of interest
Further comprising the steps of:

The method according to claim 1,
Controlling the flight of the UAV based on the UWB positioning
And controlling the flight of the UAV based on the UWB positioning through UWB communication with a plurality of anchors installed in the ROI.

A setting unit for setting an area of interest for the flight area of the UAV;
A determination unit determining whether the flight area of the unmanned aerial vehicle is the area of interest; And
And controlling the flight of the UAV on the basis of UWB positioning when the flight area of the UAV is the area of interest
And a control unit for controlling the unmanned airplane.

5. The method of claim 4,
The control unit
And controls the flight of the unmanned airplane based on GPS positioning when the flight area of the unmanned airplane is not the area of interest.

6. The method of claim 5,
The control unit
And controls the flight of the UAV based on the UWB positioning through UWB communication with a plurality of anchors installed in the ROI.

A plurality of anchors installed in a predetermined area of interest and receiving an ultra wideband signal transmitted from at least one unmanned airplane and transmitting positioning data to the unmanned airplane;
An anchor controller for collecting a time stamp for reception of the UWB signal from each of the plurality of anchors; And
The positioning server receiving the time stamp from the anchor controller and calculating the positioning data of the unmanned air vehicle
Based positioning system.

8. The method of claim 7,
The plurality of anchors
Comprising at least one anchor master,
The anchor master
Wherein the positioning data is received from the anchor controller and transmitted to the UAV.

8. The method of claim 7,
Each of the plurality of anchors
An ultra wide band (UWB) module unit for performing UWB communication with the UAV;
A Narrow-Band RF (NBRF) module for transmitting the positioning data to the UAV; And
The positioning server generates the time stamp for the UWB signal received through the UWB module unit and provides the time stamp to the anchor controller, and transmits the positioning data calculated by the positioning server to the UWB through the narrowband wireless module unit The control unit
Wherein the positioning system comprises:

8. The method of claim 7,
The anchor controller
Generates a frame synchronization signal and provides the frame synchronization signal to the plurality of anchors,
The at least one anchor of the plurality of anchors
Transmitting the frame synchronization signal to the unmanned air vehicle,
Each of the plurality of anchors
Wherein the UWB receiver receives the UWB signal transmitted through its own slot of the UAV.

8. The method of claim 7,
The positioning server
Wherein the positioning data is calculated using any one of a Time of Flight (ToF) method and a Time Difference of Arrival (TDoA) method.