KR20190118826A - Apparatus for guiding route of uninhabited aerial vehicle - Google Patents

Apparatus for guiding route of uninhabited aerial vehicle Download PDF

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KR20190118826A
KR20190118826A KR1020180042213A KR20180042213A KR20190118826A KR 20190118826 A KR20190118826 A KR 20190118826A KR 1020180042213 A KR1020180042213 A KR 1020180042213A KR 20180042213 A KR20180042213 A KR 20180042213A KR 20190118826 A KR20190118826 A KR 20190118826A
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data
transmission
aerial vehicle
gcs
unmanned aerial
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KR1020180042213A
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Korean (ko)
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박상선
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박상선
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    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • B64C2201/145—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Navigation (AREA)

Abstract

The present invention relates to an apparatus for guiding a route of an unmanned aerial vehicle, and is to provide route coordinates to an unmanned aerial vehicle through a simple switch operation. To this end, according to the present invention, the apparatus guides a route by controlling an FCS (200) of an unmanned aerial vehicle by a GCS (100). The GCS (100) includes: a GPS (110): a data conversion unit (120) which receives coordinate values obtained through the GPS (110), converts the same into data for transmission, and receives a notice about whether the data for transmission is transmitted: a switch unit (130) determining whether the data for transmission of the data conversion unit (120) is to be transmitted or not; and a first wireless modem (140) transmitting the data for transmission to the FCS (200) according to the transmission determination of the switch unit (130). The FCS (200) includes a second wireless modem (210) receiving the data for transmission of the GCS (100), and a flight control unit (230) controlling a servo motor (220) of the unmanned aerial vehicle according to the data received through the second wireless modem (210). Through a simple operation of the switch unit, the route coordinates for following the GCS can be transmitted to the unmanned aerial vehicle.

Description

무인항공기 항로 유도장치와 장착방법 {APPARATUS FOR GUIDING ROUTE OF UNINHABITED AERIAL VEHICLE}Unmanned Aerial Vehicle Guidance System and Installation Method {APPARATUS FOR GUIDING ROUTE OF UNINHABITED AERIAL VEHICLE}

본 발명은 무인항공기 항로 유도장치에 관한 것으로서, 보다 구체적으로는 지상통제장치 내 구비된 위The present invention relates to an unmanned aerial vehicle route guidance device, more specifically, the above

성항법장비의 좌표값을 간단한 조작을 통해 무인항공기로 전송하여 그 지상통제장치의 경로에 따라 무인항공기The coordinates of the navigational equipment are transmitted to the unmanned aerial vehicle with a simple operation.

가 비행하도록 하는 무인항공기 항로 유도장치에 관한 것이다To an unmanned aerial vehicle guidance device that allows a person to fly.

일반적으로 무인항공기(Unmanned Aerial Vehicle or Uninhabited Aerial Vehicle : UAV)란 조종사가In general, an unmanned aerial vehicle or uninhabited aerial vehicle (UAV)

없이 사전에 입력된 프로그램에 따라 또는 비행체 스스로 주위 환경(장애물, 항로)을 인식하고 판단하여 자율비Autonomous ratio by recognizing and judging the surrounding environment (obstacles, routes) according to the program entered in advance or without the aircraft itself

행(Autonomous Flying)하는 비행체를 말하며, 최근에는 기상관측, 지형탐사, 정찰, 감시 등의 다양한 목적을 위It refers to an aircraft flying in autonomous flying, and recently for various purposes such as meteorological observation, terrain exploration, reconnaissance and surveillance.

해 사용되고 있다I am used

그런데 상기와 같은 목적 중 지상 통제장비(GCS: Ground Control System)가 필요한 상황, 예로써 무인However, a situation that requires a ground control system (GCS) among the above purposes, for example, unmanned

항공기 이동 중 상공의 감시나 전시의 폭격 등을 위한 상황에 대하여, 기존에는 비행 중인 무인항공기의 안전한For situations such as airborne surveillance or wartime bombing of aircrafts, the unmanned aerial vehicle in flight

착륙을 위해 GCS 이동에 따른 변경 비행경로를 작성하고 이를 비행중인 무인항공기가 수신하도록 하여 비행경로Create a modified flight path according to the GCS movement for landing and have the unmanned aerial vehicle in flight receive it.

를 수정하는 과정을 반복해야 하는 문제점이 있다There is a problem that must be repeated to correct the process

본 발명은 상기한 종래 기술의 문제점을 해결하기 위해 안출된 것으로서, 단순한 조작으로 무인항공기가 GCS를 추적 비행하게 하여 무인항공기의 생존 귀환율을 높일 수 있고 GCS 주변 상황을 효과적으로 확인할 수 있도록 하는 무인항공기 항로 유도장치를 제공하는데 그 목적이 있다The present invention has been made to solve the above-mentioned problems of the prior art, the unmanned aerial vehicle to increase the survival return rate of the unmanned aerial vehicle to enable the unmanned aerial vehicle to track the GCS with a simple operation and to effectively check the situation around the GCS. The purpose is to provide a route guidance device.

상기 목적을 달성하기 위하여, 본 발명은, GCS(Ground Control System)에 의해 무인항공기의 FCS(Flight Control System)를 제어하여 항로를 유도하기 위한 장치로서, 상기 GCS는 GPS(Global Positioning System)와, 상기 GPS를 통해 취해진 좌표값을 입력받아 송신용 데이터로 변환하고 그 송신용 데이터의 송신여부를 통보받는 데이터변환부와, 상기 데이터변환부의 송신용 데이터가 송신될 것인지의 여부를 결정하기 위한 스위치부와, 상기 스위치부의 송신 결정에 따라 송신용 데이터를 FCS까지 전송하기 위한 제1 무선모뎀을포함하고, 상기 FCS는 상기 GCS의 송신용 데이터를 수신하기 위한 제2 무선모뎀과, 상기 제2 무선모뎀을 통해 수신된 데이터에 따라 무인항공기의 서보모터를 제어하기 위한 비행제어부를 포함하는 것을 특징으로 한다In order to achieve the above object, the present invention is a device for inducing a route by controlling a flight control system (FCS) of the unmanned aerial vehicle by a GCS (Ground Control System), the GCS is a GPS (Global Positioning System), A data conversion unit which receives the coordinate values taken through the GPS, converts the data into transmission data and is notified of transmission of the transmission data; and a switch unit for determining whether transmission data for the data conversion unit is to be transmitted. And a first radio modem for transmitting data for transmission to an FCS according to a transmission decision of the switch unit, wherein the FCS includes a second radio modem for receiving data for transmission of the GCS, and the second radio modem. It characterized in that it comprises a flight control unit for controlling the servo motor of the unmanned aerial vehicle according to the data received through

여기서 상기 GCS는 일정간격으로 송신용 데이터를 확인하여 상기 FCS로 재전송하도록 하는 데이터갱신부를 포함하고, 상기 FCS는 상기 GCS의 스위치부가 오프되는 경우에 제2 무선모뎀의 수신 데이터 바로 이전 데이터 항로로 복귀하도록 하는 복귀명령부를 더 포함하는 것을 특징으로 한다 Here, the GCS includes a data update unit for retransmitting the data for transmission at a predetermined interval to the FCS, and the FCS returns to the data path immediately before the received data of the second radio modem when the switch unit of the GCS is turned off. Characterized in that it further comprises a return command unit to

상술된 바와 같이, 본 발명에 따른 무인항공기 항로 유도장치는 스위치부를 온 시킴에 따라 GCS 내 GPS 좌표값이 무인항공기의 FCS로 전송되도록 하여 무인항공기가 GCS를 추적 비행할 수 있기 때문에 안전한 장소까지 무인항공기를 유도한 다음으로 착륙시킬 수 있어 이의 생존 귀환율이 향상됨과 더불어 GCS 주변 상황을 효과As described above, the unmanned aerial vehicle navigation apparatus according to the present invention causes the GPS coordinates in the GCS to be transmitted to the FCS of the unmanned aerial vehicle according to the switching on, so that the unmanned aerial vehicle can track and fly the GCS unmanned to a safe place The aircraft can be guided and then landed, improving its survival return rate and effecting the situation around the GCS.

적으로 확인하도록 한다To confirm

도 1은 본 발명에 따른 무인항공기 항로 유도장치를 도시한 블록도1 is a block diagram showing an unmanned aerial vehicle route guidance apparatus according to the present invention

이하, 도면을 참조로 하여 본 발명에 따른 무인항공기 항로 유도장치를 설명하기로 한다Hereinafter, an unmanned aerial vehicle route guidance apparatus according to the present invention will be described with reference to the drawings.

도 1은 본 발명에 따른 무인항공기 항로 유도장치를 도시한 블록도이다 1 is a block diagram showing an unmanned aerial vehicle navigation apparatus according to the present invention.

본 발명에 따른 무인항공기 항로 유도장치는 GCS(Ground Control System)(100)에 의해 무인항공기의 FCS(Flight Control System)(200)를 제어하여 항로를 유도하기 위한 장치로서, 상기 GCS(100)는 GPS(Global Positioning System)(110)와, GPS(110)를 통해 취해진 좌표값을 입력받아 송신용 데이터로 변환하고 그 송신용 The unmanned aerial vehicle route guidance apparatus according to the present invention is a device for inducing a route by controlling a flight control system (FCS) 200 of an unmanned aerial vehicle by a ground control system (GCS) 100, wherein the GCS 100 is The GPS (Global Positioning System) 110 and the coordinate values taken through the GPS 110 are input and converted into data for transmission, and the transmission is performed.

데이터의 송신여부를 통보받는 데이터변환부(120)와, 데이터변환부(120)의 송신용 데이터가 송신될 것인지의 여부를 결정하기 위한 스위치부(130)와, 스위치부(130)의 송신 결정에 따라 송신용 데이터를 FCS(200)까지 전송하기 위한 제1 무선모뎀(140)을 포함하고, 상기 FCS(200)는 GCS(100)의 송신용 데이터를 수신하기 위한 제2 무선모뎀(210)과, 제2 무선모뎀(210)을 통해 수신된 데이터에 따라 무인항공기의 서보모터(220)를 제어하기 위한 비행제어부(230)를 포함한다Data transmission unit 120 that is notified whether data is to be transmitted, switch unit 130 for determining whether data for transmission of data conversion unit 120 is to be transmitted, and transmission decision of switch unit 130 According to the first wireless modem 140 for transmitting data to the FCS 200, the FCS 200, the second wireless modem 210 for receiving data for transmission of the GCS (100) And a flight control unit 230 for controlling the servo motor 220 of the unmanned aerial vehicle according to the data received through the second wireless modem 210.

상기 GPS(110)는 종래의 것과 마찬가지로 위도, 경도, 고도 등의 위치좌표를 위성으로부터 수신하여 2진수로 출력하게 된다 The GPS 110 receives the position coordinates such as latitude, longitude, and altitude from the satellite and outputs them in binary as in the prior art.

상기 데이터변환부(120)는 GPS(110)에 수신된 2진수 좌표값을 FCS(200) 로 전송하기 위한 디지털 신호로 변환하기 위한 것으로, GCS(100)의 메인보드에 구비되거나 별도로 구비될 수 있다The data converter 120 converts binary coordinate values received from the GPS 110 into digital signals for transmission to the FCS 200. The data converter 120 may be provided on the main board of the GCS 100 or may be provided separately. have

상기 스위치부(130)는 GCS(100) 외측에 설치되어 데이터변환부(120)의 송신용 데이터가 무인항공기의 FCS(200)까지 전송될 것인지를 결정하기 위한 것으로, GPS(110)를 온/오프시킴에 따라서도 가능할 수 있으나 The switch unit 130 is installed outside the GCS 100 to determine whether data for transmission of the data conversion unit 120 is to be transmitted to the FCS 200 of the unmanned aerial vehicle. It may be possible to turn it off

GPS(110)가 온(On)된 다음으로 위성과 연결되는데 얼마간의 시간이 필요하기 때문에 신속한 좌표 정보를 FCS(200)로 전송하기 위해서는 GPS(110)를 온 상태로 유지하면서 데이터의 송신여부가 결정되는 것이 바람직하다 따라서 스위치부(130)가 오프될 때 데이터변환부(120)의 출력값이 제1 무선모뎀(140)으로 전달되지 않고 다Since the GPS 110 needs to be connected to the satellite after being turned on for some time, in order to transmit the coordinate information to the FCS 200, the transmission of data while keeping the GPS 110 turned on Therefore, the output value of the data converter 120 is not transmitted to the first wireless modem 140 when the switch unit 130 is turned off.

른 경로, 예로써 접지 경로를 따라 소멸되는 방식이 사용된다 스위치부(130)가 온 된 상태에서는 실시간으로 GCS(100) 좌표값이 FCS(200)에 전송될 수 있으며, 이러한 전송과정을 보다 효율적으로 관리하기 위해 일정간격,The other path is used to extinguish along the ground path. For example, when the switch unit 130 is turned on, the GCS 100 coordinate values can be transmitted to the FCS 200 in real time. Schedule intervals,

예로써 30초 간격으로 데이터변환부(120)의 송신용 데이터를 확인하여 FCS(200)로 재전송하도록 하는 데이터갱신부(150)가 GCS(100)에 더 포함될 수 있다 데이터갱신부(150)는 바로 직전에 송신한 데이터와 현재 송신될 데이터를 비교하여 변경사항이 없는 경우 송신용 데이터를 전송하지 않도록 할 수도 있다For example, the GCS 100 may further include a data updater 150 that checks the data for transmission of the data converter 120 at 30-second intervals and retransmits the data to the FCS 200. You can also compare the data sent just before with the data to be sent now so that no data is sent if there is no change.

상기 제1 무선모뎀(140)은 데이터변환부(120)의 송신용 데이터를 FCS(200)에 전달하기 위한 것으로 종래의 무선모뎀과 동일한 구조를 갖는다 The first radio modem 140 transmits data for transmission of the data converter 120 to the FCS 200 and has the same structure as a conventional radio modem.

상기 제2 무선모뎀(210)은 제1 무선모뎀(140)으로부터 전송된 좌표 관련 데이터를 수신하기 위한 것이다 The second wireless modem 210 is for receiving coordinate related data transmitted from the first wireless modem 140.

상기 비행제어부(230)는 제2 무선모뎀(210)을 통해 수신된 데이터를 분석하여 좌표값에 따라 무인항공 The flight control unit 230 analyzes the data received through the second wireless modem 210 to the unmanned aerial vehicle according to the coordinate value

기의 주날개, 보조날개 등에 장착된 서보모터(220)를 제어함으로써 수신된 데이터 좌표를 향해 무인항공기가 비행하도록 하기 위한 것이다 추가적으로 GCS(100)의 스위치부(130)가 오프되는 경우에 제2 무선모뎀(210)의 수신 데이터 바로 이전 데이터 항로로 복귀하도록 하는 복귀명령부(240)가 비행제어부(230) 자체에 구비되거나 이와 별도로 FCS(200)에 구비될 수 있으며, 복귀될 좌표 데이터는 FCS(200)에 장착된 플래시 메모리에 순차적으로 저장되었다가 스위치부(130)가 오프됨에 따라 복귀명령부(240)로부터 오프되기 이전 좌표 데이터가 인출되어 비행항로로 설정된다This is to allow the unmanned aerial vehicle to fly toward the received data coordinates by controlling the servomotor 220 mounted on the main wing, the auxiliary wing, etc. of the aircraft. In addition, when the switch unit 130 of the GCS 100 is turned off, The return command unit 240 for returning to the data path immediately before the received data of the wireless modem 210 may be provided in the flight control unit 230 itself or separately provided in the FCS 200, and the coordinate data to be returned is the FCS. As it is sequentially stored in the flash memory mounted at 200, and as the switch unit 130 is turned off, coordinate data is extracted and set as a flight route before being turned off from the return command unit 240.

상기와 같은 구조를 통해, GCS(100)를 거쳐 최초 입력된 항로 좌표값에 따라 무인항공기가 비행하다가 스위치부(130)를 온 시키게 되면, GCS(100) 내 구비된 GPS(110)의 좌표값을 실시간으로 무인항공기의 FCS(200)가 수신하여 GCS(100)를 추적비행하게 됨으로써, 그 무인항공기에 용도에 맞게 장착된 기상관측수단,  Through the above structure, when the unmanned aerial vehicle flies according to the route coordinate value first input through the GCS 100 and turns on the switch unit 130, the coordinate value of the GPS 110 provided in the GCS 100 is provided. By receiving the FCS 200 of the unmanned aerial vehicle in real time to track the flight of the GCS 100, the weather observation means mounted to the unmanned aerial vehicle,

지형탐색 수단, CCD 카메라(Charge-Coupled Device Camera) 등으로 비행 경로에 해당하는 정보를 획득할 수 있게 된다It is possible to acquire information corresponding to the flight path by means of a terrain search device or a charge-coupled device camera.

Claims (3)

GCS(Ground Control System)(100)에 의해 무인항공기의 FCS(Flight Control System)(200)를 제어하여
항로를 유도하기 위한 장치에 있어서,
상기 GCS(100)는,
GPS(Global Positioning System)(110)와, 상기 GPS(110)를 통해 취해진 좌표값을 입력받아 송신용 데
이터로 변환하고 그 송신용 데이터의 송신여부를 통보받는 데이터변환부(120)와, 상기 데이터변환부(120)의 송
신용 데이터가 송신될 것인지의 여부를 결정하기 위한 스위치부(130)와, 상기 스위치부(130)의 송신 결정에 따
라 송신용 데이터를 FCS(200)까지 전송하기 위한 제1 무선모뎀(140)을 포함하고,
상기 FCS(200)는,
상기 GCS(100)의 송신용 데이터를 수신하기 위한 제2 무선모뎀(210)과, 상기 제2 무선모뎀(210)을 통해
수신된 데이터에 따라 무인항공기의 서보모터(220)를 제어하기 위한 비행제어부(230)를 포함하는 것을 특징으로
하는 무인항공기 항로 유도장치By controlling the Flight Control System (FCS) 200 of the unmanned aerial vehicle by the GCS (Ground Control System) 100
An apparatus for guiding a route,
The GCS 100,
GPS (Global Positioning System) 110, and the coordinates taken through the GPS 110 for receiving and transmitting
Data conversion unit 120 for converting the data into data and notifying transmission of the data for transmission, and transmission of the data conversion unit 120.
The switch unit 130 for determining whether or not the credit data is to be transmitted, and according to the transmission decision of the switch unit 130
A first wireless modem 140 for transmitting data for transmission to the FCS 200,
The FCS 200,
Through the second wireless modem 210 and the second wireless modem 210 for receiving the transmission data of the GCS (100)
It characterized in that it comprises a flight control unit 230 for controlling the servo motor 220 of the unmanned aerial vehicle according to the received data
Drone route guidance system 청구항 1에 있어서,
상기 GCS(100)는 일정간격으로 송신용 데이터를 확인하여 상기 FCS(200)로 재전송하도록 하는 데이터갱
신부(150)를 더 포함하는 것을 특징으로 무인항공기 항로 유도장치The method according to claim 1,
The GCS 100 checks the data for transmission at a predetermined interval and retransmits the data to the FCS 200.
Unmanned aircraft route guidance device characterized in that it further comprises a bride (150) 청구항 1 또는 청구항 2에 있어서,
상기 FCS(200)는 상기 GCS(100)의 스위치부(130)가 오프되는 경우에 제2 무선모뎀(210)의 수신 데이터
바로 이전 데이터 항로로 복귀하도록 하는 복귀명령부(240)를 더 포함하는 것을 특징으로 하는 무인항공기 항로 유도장치The method according to claim 1 or 2,
The FCS 200 receives data of the second wireless modem 210 when the switch unit 130 of the GCS 100 is turned off.
The unmanned aerial vehicle navigation apparatus further comprising a return command unit 240 for returning to the immediately previous data route.
KR1020180042213A 2018-04-11 2018-04-11 Apparatus for guiding route of uninhabited aerial vehicle KR20190118826A (en)

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