KR20180124457A - Precision altitude control system of unmanned aerial vehicle using altimeter - Google Patents

Abstract

The present invention relates to a system performing position control keeping the altitude of an unmanned aerial vehicle constant even in a change in weather environment by setting a reference point altitude and correcting reference pressure for maintaining altitude of an unmanned aerial vehicle above reference point altitude according to a change in atmospheric pressure of a station and inducing reliably land of an unmanned aerial vehicle by releasing position control and performing only posture control at below reference point altitude. The system for precisely controlling altitude of an unmanned aerial vehicle using an altimeter that keeps the altitude difference between a station on the ground and the unmanned aerial vehicle above the ground constant comprises: a station pressure measuring unit mounted on the station and measuring air pressure of a lower layer to derive the absolute altitude of the station; a flight vehicle pressure measuring unit mounted on the unmanned aerial vehicle and measuring air pressure of a lower layer to derive the absolute altitude of the unmanned aerial vehicle; a reference pressure generating unit generating reference air pressure data of the unmanned air vehicle based on the air pressure of the lower layer; a correction data generation unit generating correction data for correcting errors of the pressure of the upper layer and the reference pressure; and a position control unit adjusting the altitude of the unmanned aerial vehicle based on the correction data.

Description

Technical Field [0001] The present invention relates to a precision altitude control system for an unmanned aerial vehicle using an altimeter,

The present invention relates to a system for adjusting an altitude of an unmanned aerial vehicle located on the ground based on a measurement pressure of a station located on the ground, and more particularly, to a system for adjusting an altitude of a unmanned aerial vehicle The reference base pressure is corrected according to the change of the atmospheric pressure of the ground where the station is located, so that the position control is performed to maintain the altitude of the unmanned aerial vehicle constant even in the change of the weather environment, To a stable landing of the unmanned aerial vehicle.

Generally, the rotor-shaped unmanned aerial vehicle can be used for various purposes due to its small size and the capability of stopping flight, and it is also possible to maintain the height from the ground and perform the tasks such as reconnaissance and measurement It is one of the uses of unmanned aerial vehicles.

In this case, a GPS device, an altimeter, or the like can be used to maintain the unmanned aerial vehicle at a constant height from the ground. As a conventional invention relating to maintenance of the altitude of the unmanned aerial vehicle, Korean Patent Registration No. 10-0995362, Control device ", and Korean Patent Registration No. 10-1408073 entitled" Aircraft Advanced Processing Apparatus and Method of Unmanned Gliding Vehicle ", Korean Patent Laid-Open Publication No. 10-2016-0068260, entitled" Quadrotor Type Unmanned Aerial Vehicle Stabilization and altitude control " and Korean Unexamined Patent Publication No. 10-2016-0094214 entitled " Unmanned aerial vehicle and its control method " have been proposed and disclosed.

In the above-mentioned Korean Patent Registration No. 10-0995362 entitled " Unmanned Aerial Vehicle Fly Altitude Control Device ", the distance index and the flight altitude can be inputted into the memory to determine the position, and since the measuring unit calculates the distance based on the starting point each time, In the above-mentioned Korean Patent Registration No. 10-1408073 entitled " Device and method for processing an unmanned gliding aircraft flight altitude ", there is proposed an apparatus for preventing an excessive increase in external factors during flight of an unmanned glide airplane An invention relating to an apparatus and a method for controlling the altitude of an unmanned gliding vehicle so as to reach the ground target point safely when the altitude rises is proposed.

Also, in Korean Patent Application Publication No. 10-2016-0068260, " attitude stabilization and altitude control of a quadrotor-type unmanned aerial vehicle in an indoor environment ", attitude stabilization and altitude control of the unmanned aerial vehicle The control method for controlling the altitude and attitude of the unmanned aerial vehicle according to the charging of the balloon is described in Korean Patent Application Publication No. 10-2016-0094214 entitled " Unmanned Aerial Vehicle and Its Control Method " Has been proposed.

However, in the above conventional arts, altimeters are mounted only on the airplane located in the sky above, and the altitude is measured. Therefore, there is a problem that the altitude of the airplane is measured differently according to the change of the air pressure.

Accordingly, there is a need for an apparatus or a system that can maintain the altitude of a flight vehicle constant even if the atmospheric pressure changes due to a change in weather or the like.

Korean Registered Patent No. 10-0995362 (Nov. 12, 2010) Korean Registered Patent No. 10-1408073 (Apr. 10, 2014) Korean Patent Publication No. 10-2016-0068260 (June 06, 2016) Korean Patent Publication No. 10-2016-0094214 (Aug.

The precision altitude control system of an unmanned aerial vehicle using an altimeter according to the present invention is a technology proposed to solve the problems of the related art as described above,

Since altimeters are installed only in the unmanned aerial vehicle located at the upper part of the conventional technology for controlling the altitude of the unmanned aerial vehicle, the altitude of the unmanned aerial vehicle is measured differently when the atmospheric pressure changes according to the weather change, ,

Even if the altitude of the station changes due to the movement of the station located on the ground, the altitude of the unmanned aerial vehicle remains unchanged if the atmospheric pressure measured by the unmanned aerial vehicle is constant, and the altitude difference between the station and the unmanned aerial vehicle can not be maintained constant Respectively.

When an error occurs in the position control when the unmanned aerial vehicle is landed on the station by pulling the line while the station and the unmanned aerial vehicle are connected by the line, the direction in which the unmanned aerial vehicle moves and the direction in which the unmanned aerial vehicle is pulled by the line are formed differently, There is a problem that the unmanned aerial vehicle may be damaged due to the fall or tilted contact with the ground.

In order to realize the above-mentioned object, the precision altitude control system of the unmanned aerial vehicle using the altimeter according to the present invention,

1. A system for maintaining a constant altitude difference between a ground station and an unmanned aerial vehicle located above the station, comprising: a station barometric pressure measurement unit mounted on the station, measuring a lower barometric pressure to derive an absolute altitude of the station; An airborne barometric pressure measurement unit mounted on the unmanned air vehicle and measuring an upper air pressure to derive an absolute altitude of the unmanned air vehicle; A reference air pressure generating unit for generating reference air pressure data of the unmanned air vehicle based on the lower air pressure; A correction data generation unit for generating correction data for correcting an error between the upper layer pressure and the reference pressure; A position controller for adjusting an altitude of the unmanned aerial vehicle based on the correction data; And an altitude control system for an unmanned aerial vehicle using the altimeter.

In addition, the altitude control system of the unmanned aerial vehicle using the altimeter may further include a reference point between the station and the unmanned air vehicle, based on the absolute altitude measured by the station pressure measuring unit and the absolute altitude measured by the air pressure measurement unit, Wherein the position control unit stops the control of the unmanned air vehicle when the unmanned air vehicle is lowered below the reference point altitude.

According to the present invention, there is provided an accurate altitude control system for an unmanned aerial vehicle using an altimeter,

The altitude of the unmanned aerial vehicle can be maintained constant even if the atmospheric pressure changes according to the change of the meteorological condition, because the reference aerostatic pressure data is generated based on the lower atmospheric pressure of the ground where the station is located,

When the pressure of the station measured at the station located on the ground changes due to the movement of the station, the altitude of the unmanned aerial vehicle changes accordingly, so that the altitude difference between the station and the unmanned aerial vehicle can be maintained constant.

The altitude of the reference point is set so that the position control of the unmanned aerial vehicle is canceled and the attitude control is performed only below the reference point altitude, so that the unmanned aerial vehicle can be safely landed on the station by pulling the railway.

1 is a positional control block diagram of a precise altitude control system of an unmanned aerial vehicle using an altimeter according to the present invention.
FIG. 2 is a view showing a position control structure according to another embodiment of the precise altitude control system of an unmanned aerial vehicle using an altimeter according to the present invention. FIG.
3 is a view showing a configuration of a posture control control of an altitude control system of an unmanned aerial vehicle using an altimeter according to the present invention.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for adjusting the altitude of an unmanned aerial vehicle located on the ground based on a measurement pressure of a station located on the ground,

1. A system for maintaining a constant altitude difference between a ground station (100) and an unmanned air vehicle (110) located above the station, the system comprising: a station (100) A station pressure measurement unit 101 for deriving an altitude; An airborne barometric pressure measuring unit 111 mounted on the unmanned air vehicle 110 for measuring an upper air pressure to derive an absolute altitude of the unmanned air vehicle 110; A reference pressure generation unit 120 for generating reference pressure data of the unmanned air vehicle 110 based on the lower air pressure; A correction data generation unit (130) for generating correction data for correcting an error between the upper layer pressure and the reference pressure; A position controller 140 for adjusting an altitude of the unmanned aerial vehicle 110 based on the correction data; The present invention relates to a precision altitude control system for an unmanned aerial vehicle using an altimeter.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, the precise altitude control system of an unmanned aerial vehicle using an altimeter according to the present invention relates to a system for maintaining a constant altitude difference between a ground station 100 and an unmanned aerial vehicle 110 located above the altitude.

The station 100 includes a control unit provided for a user located on the ground to control the unmanned air vehicle 110 or a vehicle having a takeoff and landing point of the unmanned air vehicle 110, A power supply for supplying electric power to the unmanned object 110 and a line for supplying electric power may be provided. The unmanned air vehicle 110 may include a rotor blade It is a component limited to a flying body.

That is, since the fixed-wing aircraft can not stop the flight, it is difficult to apply the concept of position control and is connected to the station 100 through the line. Thus, the unmanned aerial vehicle 110 according to the present invention includes a wing- Is preferably limited to only the flywheel in the form of a rotor blade.

1 and 2, a precise altitude control system for an unmanned aerial vehicle using an altimeter according to the present invention is mounted on the station 100, and measures an under-altitude pressure of the station 100, And an airborne barometric pressure measuring unit 111 mounted on the unmanned air vehicle 110 for measuring an upper air pressure to derive an absolute altitude of the unmanned air vehicle 110 .

The station pressure measurement unit 101 and the airship pressure measurement unit 111 measure the pressures of the ground and the air where the station 100 and the unmanned airplane 110 are respectively located and measure the pressures of the station 100 and the non- And an air pressure type altimeter for deriving the absolute altitudes of the ground and the air above each of the unmanned aerial vehicles 110 and measuring the atmospheric pressure in real time to derive an absolute altitude.

When the atmospheric altimeter is installed only on the unmanned air vehicle 110, the current absolute altitude of the unmanned air vehicle 110 can be known by measuring the upper air pressure of the unmanned air vehicle 110. However, It is not the actual altitude from the ground.

In addition, since the atmospheric pressure is not always fixed but can be changed, the absolute altitude measured by the atmospheric pressure altimeter may vary even at the same position if the atmospheric pressure changes due to the gas phase change in the troposphere.

Therefore, these problems are obstacles to keeping the altitude difference between the ground station 100 and the unmanned aerial vehicle 110 at a constant level, and the accuracy altitude control of the unmanned aerial vehicle using the altimeter according to the present invention The system includes a pneumatic altimeter not only in the unmanned air vehicle 110 but also in the station 100 to measure the underground pressure of the ground on which the station 100 is located, And a reference air pressure generating unit 120 for generating reference air pressure data of the unmanned air vehicle 110.

The reference pressure generating unit 120 applies the difference between the pressures of the lower and upper pressures to maintain a constant altitude difference between the station 100 and the unmanned airplane 110 to the lower pressures, And the reference air pressure data generated is used as a comparison data with the upper air pressure which is continuously measured in the unmanned air vehicle 110 .

Therefore, in order to keep the altitude difference between the station 100 and the unmanned aerial vehicle 110 constant, the upper air pressure measured in real time by the air pressure measurement unit 111 must match the reference air pressure data, The precision altitude control system for an unmanned aerial vehicle using an altimeter according to the present invention includes a correction data generation unit 130 for generating correction data for correcting errors of the upper air pressure and the reference air pressure data.

The correction data generation unit 130 generates correction data in real time so that the altitude difference between the station 100 and the unmanned air vehicle 110 can be maintained constant. As shown in FIG. 2, The station 100 may generate correction data and transmit the correction data to the unmanned air vehicle 110. However, as shown in FIG. 1, the simplification of the process of generating correction data in the unmanned air vehicle 110 .

Here, the correction data may be data obtained by calculating the difference between the reference pressure data and the pressure of the upper chamber pressure, and may be data obtained by converting the pressure difference between the reference pressure data and the upper chamber pressure into an altitude difference.

In an embodiment of the present invention, when the lower air pressure is 1 atm and the upper air pressure is 0.5 atm, the station 100 is stopped, but when the lower air pressure is changed to 0.9 atmospheric pressure due to the change in the air condition, The controller 120 can generate the reference pressure data by applying 0.1 atmospheric pressure, which is a change amount of the atmospheric pressure, to the upper atmosphere pressure.

In another embodiment of the present invention, when the underlayer pressure is changed to 0.9 atmospheric pressure by the movement of the station 100 while the underlayer pressure is 1 atm and the overhead pressure is at 0.5 atm, ) Can generate the reference pressure data by applying 0.1 atmospheric pressure, which is the variation of the lower atmospheric pressure, to the upper atmosphere pressure.

Therefore, in both cases, the same reference pressure data is generated, but the movement of the unmanned aerial vehicle 110 can be made differently.

That is, the change of the atmospheric pressure due to the meteorological change causes the atmospheric pressure change in both the lower layer where the station 100 is located and the upper layer where the unmanned air vehicle 110 is located, And a case where a change in atmospheric pressure due to movement and a change in atmospheric pressure are caused by moving to a place with a high altitude.

Therefore, when the atmospheric pressure changes in both the lower and upper layers due to the gas phase change, the reference air pressure data and the upper air pressure are equal to each other, so that the unmanned air vehicle 110 does not need to adjust the altitude.

On the other hand, when the station 100 moves to a higher altitude, the lower air pressure measured by the station pressure measuring unit 101 is decreased, but the upper air pressure measured by the air pressure measuring unit 111 remains unchanged At this time, since the reference pressure data and the upper chamber pressure do not match, the correction data generator 130 corrects the difference between the reference pressure and the upper chamber pressure to generate correction data for matching the reference and upper chamber pressures.

1 and 2, a precise altitude control system for an unmanned aerial vehicle using an altimeter according to the present invention includes a position controller 140 for adjusting an altitude of the unmanned air vehicle 110 based on the correction data, ).

The position control unit 140 is a component that automatically adjusts the altitude of the unmanned aerial vehicle 110 regardless of the user's steering through the steering unit. And automatically controls and moves the unmanned aerial vehicle 110 so that the reference air pressure data and the upper air pressure coincide with each other.

In an embodiment of the present invention, when the correction data is data obtained by calculating a pressure difference between the reference pressure data and the upper air pressure, the position controller 140 controls the unmanned air vehicle 110 such that the reference air pressure data and the upper air pressure are identical And can be automatically controlled and moved.

In another embodiment of the present invention, when the correction data is data obtained by converting the atmospheric pressure difference between the reference pressure data and the upper air pressure into the altitude difference, the position control unit 140 controls the unmanned air vehicle 110 ) Can be automatically controlled and moved.

In the precise altitude control system for an unmanned aerial vehicle using the altimeter according to the present invention, the station 100 is used only as a point for landing the unmanned air vehicle 110, and a control device for controlling the unmanned air vehicle 110 is separately provided The altitude difference between the station 100 and the unmanned air vehicle 110 can be kept constant or the altitude difference between the control device and the unmanned air vehicle 110 can be maintained You can switch to keep it constant.

According to the above-described configuration, the precision altitude control system of the unmanned aerial vehicle using the altimeter according to the present invention can maintain the altitude difference between the station 100 and the unmanned aerial vehicle 110 constant, The components for safely landing the air vehicle 110 will be described in detail.

3, the precise altitude control system for an unmanned aerial vehicle using an altimeter according to the present invention includes a station coordinate generator 150 for generating position coordinate data of the station 100, And a plane coordinate generating unit 160 for generating position coordinate data of the plane coordinate data.

The station coordinate generating unit 150 and the airplane coordinate generating unit 160 generate position coordinate data of the station 100 including the latitude, longitude and altitude information of the station 100 and the unmanned airplane 110 respectively, A GPS device or the like which is mounted or mounted on the station 100 and the unmanned air vehicle 110 as a component for generating position coordinate data of the air vehicle 110 in real time, And generates position coordinate data of the station 100 and position coordinate data of the unmanned air vehicle 110 according to a predetermined measurement cycle.

The GPS device is a device capable of performing a high altitude measurement like the above-described pneumatic altimeter, but it is not used for precise altitude control in the present invention because an error occurs unlike a pneumatic altimeter. As shown in Fig.

Specifically, the altitude control is a control for maintaining the altitude difference between the station 100 and the unmanned aerial vehicle 110 constant, and the position control refers to a method for landing the unmanned air vehicle 110 on the station 100 The position coordinate data of the station 100 is generated by the station coordinate generating unit 150 to control the position of the unmanned air vehicle 110 to move the unmanned air vehicle 110 to the station 100, When the position coordinate data of the unmanned air vehicle 110 is generated by the position coordinate data of the unmanned air vehicle 110 based on the position coordinate data of the unmanned air vehicle 110, (110).

The altitude and altitude control system of the altimeter according to the present invention may be configured such that the absolute altitude measured by the station pressure measuring unit 101 and the absolute altitude measured by the altimeter 111 are measured, And a reference point altitude setting unit 170 for setting a reference point altitude between the navigation system 100 and the unmanned air vehicle 110.

The reference point altitude setting unit 170 is a component for setting a reference point altitude that divides a space between the station 100 and the unmanned air vehicle 110 into a position control section and an attitude control section, And an absolute altitude of the unmanned aerial vehicle 110 is set as a reference point altitude.

Specifically, the position control section is a section in which the position control section 140 moves the unmanned air vehicle 110 to the station 100, and the attitude control section controls the position of the station 100 and the unmanned air vehicle 110 to the station 100 by landing the unmanned air vehicle 110 by pulling the line connecting the wagon 110 to the station 100.

At this time, the position coordinate data of the station 100 may not match the position of the actual station 100 due to an error of the GPS device, movement of the station 100, etc. Therefore, in the posture control section, It is preferable that the position control of the unmanned air vehicle 110 by the driver 140 is stopped.

That is, when the unmanned object 110 falls below the reference point altitude, the position control unit 140 stops the control of the unmanned air vehicle 110 or repeats the control and stop of the unmanned air vehicle 110, The flying object 110 receives the external force due to the pulling of the track, thereby preventing the unmanned air vehicle 110 from falling.

3, in the precise altitude control system for an unmanned aerial vehicle using the altimeter according to the present invention, when the unmanned air vehicle 110 falls below the reference point altitude, the posture of the unmanned air vehicle 110 is controlled And a posture control unit (180)

When the unmanned air vehicle 110 descending below the reference point altitude is not positioned above the station 100 due to the error of the GPS device or the movement of the station 100, So that the unmanned aerial vehicle 110 pulled toward the station 100 is maintained in a horizontal posture with respect to the ground, thereby preventing accidents such as collision of the rotor with the ground during landing.

The embodiments described above are provided by way of example for the purpose of enabling a person skilled in the art to sufficiently transfer the technical idea of the present invention to a person skilled in the art, But may be embodied in other forms without limitation.

In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and in the drawings, the width, length, thickness, etc. of the components may be exaggerated or reduced for convenience.

Further, like reference numerals designate like elements throughout the specification.

100: Station 101: Station pressure measuring unit
110: unmanned aerial vehicle 111: airborne air pressure measuring unit
120: reference pressure generating unit 130: correction data generating unit
140: Position controller 150: Station coordinate generator
160: Airplane coordinate generator 170: Reference point altitude setting unit
180:

Claims (7)

1. A system for maintaining a constant altitude difference between a ground station (100) and an unmanned aerial vehicle (110) located above the ground,
A station pressure measuring unit 101 mounted on the station 100 for measuring an underground pressure and deriving an absolute altitude of the station 100;
An airborne barometric pressure measuring unit 111 mounted on the unmanned air vehicle 110 for measuring an upper air pressure to derive an absolute altitude of the unmanned air vehicle;
A reference pressure generation unit 120 for generating reference pressure data of the unmanned air vehicle 110 based on the lower air pressure;
A correction data generation unit (130) for generating correction data for correcting an error between the upper layer pressure and the reference pressure;
A position controller 140 for adjusting an altitude of the unmanned aerial vehicle 110 based on the correction data; And a control unit for controlling the altitude of the unmanned aerial vehicle using the altimeter.
The method according to claim 1,
The station barometric pressure measurement unit 101 and the airborne barometric pressure measurement unit 111,
And an air pressure type altimeter. The altitude control system of the unmanned aerial vehicle using the altimeter.
The method according to claim 1,
The station 100 and the unmanned air vehicle 110 are connected to each other by a cable,
And a wired connection is made, wherein the altitude meter is a precision altitude control system of a unmanned aerial vehicle.
The method according to claim 1,
In the precise altitude control system of the unmanned aerial vehicle using the altimeter,
A station coordinate generator 150 for generating position coordinate data of the station 100;
A flight object coordinate generating unit 160 for generating position coordinate data of the unmanned air vehicle 110,
The position control unit 140,
Wherein the unmanned air vehicle (110) is moved to the position coordinate data of the station (100) based on the position coordinate data of the unmanned air vehicle (110).
5. The method of claim 4,
In the precise altitude control system of the unmanned aerial vehicle using the altimeter,
Based on the absolute altitude measured by the station pressure measurement unit 101 and the absolute altitude measured by the air pressure measurement unit 111,
Further comprising a reference point altitude setting unit (170) for setting a reference point altitude between the station (100) and the unmanned aerial vehicle (110).
6. The method of claim 5,
The position control unit 140,
When the unmanned air vehicle 110 descends below the reference point altitude,
And the control of the unmanned aerial vehicle (110) is stopped.
6. The method of claim 5,
In the precise altitude control system of the unmanned aerial vehicle using the altimeter,
Further comprising an attitude control unit (180) for controlling the attitude of the unmanned air vehicle (110) when the unmanned air vehicle (110) falls below the reference point altitude. system.

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