KR20220053897A - Drone performance test system using gps signals - Google Patents

Abstract

The present invention relates to a drone performance testing system using GPS signals, which comprises: a container unit having inner space where a drone to be tested can fly; a reception unit installed outside the container unit to receive a first signal or a GPS signal received from an artificial satellite; a condition provision unit applying external force to the drone to be tested; a sensor unit sensing movement of the drone to be tested when the drone to be tested is moved by the condition provision unit to generate movement information; an operation unit converting the movement information into a coordinate value to generate a second signal; and a transmission unit installed on a ceiling portion of the interior of the container unit to transmit the first signal and the second signal to the interior of the container unit. According to the present invention, the moving distance of the drone which is moved by external force even indoors is converted into a coordinate value and then the coordinate value is transmitted to enable a user to accurately test the hovering performance of the drone indoors.

Description

Drone performance test system using GPS signal {DRONE PERFORMANCE TEST SYSTEM USING GPS SIGNALS}

The present invention relates to a drone performance test system using a GPS signal, and by generating and transmitting the moving distance of a drone moved by an external force as a coordinate value and transmitting it, a drone performance test system using a GPS signal for testing the hovering performance of the drone. it's about

A drone refers to an unmanned aerial vehicle in the shape of an airplane or helicopter that can fly and be controlled by radio wave guidance without a pilot.

Recently, drones are being used in various fields, such as taking photos or videos, spraying pesticides, or delivering parcels.

However, in order to use a drone to take photos, videos, or deliver parcels, the drone must be able to accurately identify its location, and it must be able to accurately fly even when external weather changes.

To this end, a GPS receiving module for receiving a GPS signal is installed in the drone, and flying or hovering is performed based on the GPS.

Therefore, after the drone is manufactured, it is essential to verify whether the drone can accurately fly by receiving a GPS signal and whether it can accurately fly even in external weather changes.

On the other hand, the technology that is the background of the present invention is disclosed in Korean Patent Laid-Open No. 10-2020-0028749.

The present invention was created to solve the above problems, and provides a drone performance test system using a GPS signal for testing the hovering performance of the drone by generating and transmitting the moving distance of the drone moved by an external force as a coordinate value. .

The above object according to the present invention, the container unit in which the internal space in which the test body can fly; a receiving unit installed outside the container unit and receiving a first signal that is a GPS signal received from an artificial satellite; a condition providing unit for applying an external force to the test body; a sensor unit that detects the movement of the test object and generates movement information when the test object is moved by the condition providing unit; A GPS signal comprising: a calculator configured to convert the movement information into coordinate values to generate a second signal; and a transmitter installed on an inner ceiling of the container unit and configured to transmit the first signal and the second signal to the interior of the container unit; This is achieved by using a drone performance test system.

The apparatus may further include a sensitivity measuring unit configured to receive the first signal and the second signal and measure sensitivities of the first signal and the second signal.

In addition, the sensor unit is implemented in a radar method, and generates movement information by sensing the movement of the test object when the test object is moved, and the movement information includes a movement direction, a movement distance, and a movement speed of the test object. can

In addition, the operation unit includes a first conversion unit for receiving the movement information of the test object and generating the position of the test object as a coordinate value, a signal generator for regenerating the coordinate value into a GPS signal, and in the signal generator and a second converter configured to convert the frequency of the generated GPS signal to generate the second signal.

In addition, the condition providing unit may apply an external force to the test object so that the test object can be moved after the transmitter transmits the first signal to the test object.

According to the present invention, it is possible to accurately test the hovering performance of a drone indoors by generating and transmitting the movement distance of the drone moved by an external force as a coordinate value even indoors.

1 is a conceptual diagram of a drone performance test system using a GPS signal according to an embodiment of the present invention;
2 shows a process in which a first signal of the drone performance test system of FIG. 1 is generated and moved;
3 shows a process in which a second signal of the drone performance test system of FIG. 1 is generated and moved;
4 shows measuring the sensitivity of the first signal and the second signal of the drone performance test system of FIG. 1;
Figure 5 shows the configuration of the operation unit of the drone performance test system of Figure 1,
6 is a schematic diagram illustrating a drone certification process of the drone performance test system of FIG. 1 .

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings.

In the description of the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or performance interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In addition, in describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms.

Hereinafter, a drone performance test system using a GPS signal according to an embodiment of the present invention will be described with reference to the drawings.

1 is a conceptual diagram of a drone performance test system using a GPS signal according to an embodiment of the present invention, FIG. 2 shows a process in which a first signal of the drone performance test system of FIG. 1 is generated and moved, and FIG. 3 FIG. 1 shows a process in which a second signal of the drone performance test system is generated and moved, FIG. 4 shows the measurement of the sensitivity of the first signal and the second signal of the drone performance test system of FIG. 1 , and FIG. 5 1 shows the configuration of the operation unit of the drone performance test system of FIG. 1 , and FIG. 6 briefly shows the drone certification process of the drone performance test system of FIG. 1 .

1 to 6 , the drone performance test system 100 using a GPS signal according to an embodiment of the present invention includes a container unit 110 , a receiving unit 120 , a condition providing unit 130 , and a sensor. It includes a unit 140 , an operation unit 150 , a transmission unit 160 , and a sensitivity measurement unit 170 .

The container unit 110 may be composed of a floor, a side wall, and a ceiling, and an internal space S in which a test object D, which will be described later, can fly may be formed.

Here, the test object (D) is flying or hovering in the inner space (S) of the container unit 110, and may be implemented as a drone.

The test subject D may receive a GPS signal, and may perform hovering by identifying its current location based on the GPS signal.

However, the test object D is not limited to the above-described drone, and any aircraft capable of hovering by receiving a GPS signal may be used.

The container unit 110 may be implemented as a rectangular parallelepiped-shaped metal container.

However, the container unit 110 is not limited to a metal container, and may be made of any material as long as it can block external signals such as GPS signals.

Meanwhile, a connecting line extending in the longitudinal direction may be installed on the bottom surface of the container unit 110 .

One end of the connecting line may be installed on the bottom surface of the container unit 110 , and the other end of the connecting line may be fixed to the lower portion of the test body (D).

At this time, the length of the connecting line cannot reach the condition providing unit 130 , the sensor unit 140 , the calculating unit 150 and/or the transmitting unit 160 , which will be described later when the test object D flies. It is preferable that it is about a length.

According to this connection line, when the test body D malfunctions, it collides with the condition providing unit 130 , the sensor unit 140 , the calculation unit 150 and/or the transmission unit 160 and is damaged. can be prevented.

The receiving unit 120 is installed outside the container unit 110 and may receive GPS signals from a plurality of artificial satellites, respectively. Even if it is made of material, it is free.

In this case, it is preferable that the receiver 120 receives GPS signals from four or more satellites. When GPS signals are received from three or less satellites, an error may occur due to radio wave transmission/reception time, and as GPS signals are received from four or more satellites, the accuracy of the coordinate values generated by the receiver 120 improves. because it becomes

The receiver 120 may transmit each GPS signal (hereinafter, referred to as a “first signal”) received from a plurality of satellites to the transmitter 160 .

The transmitter 160 may be installed inside the container unit 110 . Specifically, the transmitter 160 may be installed on the inner ceiling portion.

When receiving the first signal from the receiving unit 120 , the transmitting unit 160 may transmit the first signal to the inside of the container unit 110 .

A GPS signal may be transmitted inside the container unit 110 through which the GPS signal does not pass by the receiving unit 120 and the transmitting unit 160 .

Since the test object D located inside the container unit 110 can receive the first signal from the transmitter 160, the current coordinate value of the test object D is calculated based on the first signal. can create

In more detail, the test body D may include a GPS receiving module capable of receiving a GPS signal.

The GPS receiving module installed on the test object D analyzes the first signal received from the transmitter 160 to measure the pseudo-distance between each artificial satellite and the test object D. And based on the measured pseudorange, it is possible to generate a coordinate value regarding the current position of the test object D.

Here, the coordinate value means a three-dimensional position coordinate value including the latitude, longitude, and altitude at which the test object D is located.

The test object D may hover inside the container unit 110 based on the generated coordinate values.

The condition providing unit 130 may apply an external force similar to the external environment to the test object D so that the test object D can be moved.

For example, the condition providing unit 130 may include a temperature control device, a humidity control device, a fan and/or a spray device to control wind, temperature, humidity, rainfall, etc. inside the container unit 110 .

On the other hand, the container unit 110 may be composed of an outer wall portion and an inner wall portion so that wind, humidity, temperature, rainfall, etc. provided by the condition providing unit 130 are not affected by the external environmental conditions of the container unit 110 . can

The outer wall portion and the inner wall portion may be disposed such that an air layer is formed between the outer wall portion and the inner wall portion.

According to the above-described air layer formed by the outer wall portion and the inner wall portion, an insulating space may be formed on the sidewall of the container portion 110 , so that the internal environment of the container portion 110 is the container portion 110 . It can be prevented from being changed by the external environment of

The external force applied by the condition providing unit 130 to the test body D may be such that the test body D cannot maintain hovering.

In more detail, the condition providing unit 130 may provide wind to the test body (D). At this time, the condition providing unit 130 may control the wind speed, air volume, wind direction, etc. of the wind provided to the test body (D).

The condition providing unit 130 may provide wind to the test object D when a preset time elapses after the test object D receives the first signal and starts hovering. For example, the condition providing unit 130 may provide wind to the test object D after 5 seconds have elapsed after the test object D starts hovering.

In this case, the condition providing unit 130 may control the wind speed at 1 m/s and the air volume at 10 m 3 /min to provide it to the front of the test body D.

Afterwards, if the test object (D) does not move and maintains a hovering state continuously, the condition providing unit 130 adjusts the wind speed of the wind provided to the test object (D) to 2 m/s, or adjusts the amount of wind It can be provided by adjusting it to 15㎥/min.

The condition providing unit 130 may control the amount of air and the wind speed in the test object (D) until the test object (D) is moved.

According to the condition providing unit 130, there is an effect of knowing the hovering maintenance performance according to the air volume and wind speed of the test body (D).

Meanwhile, the wind provided by the condition providing unit 130 may interfere with the wall surface of the container unit 110 to change the moving direction and moving speed. In addition, the wind that interferes with the wall surface of the container unit 110 may affect the movement direction and movement speed of the wind provided by the condition providing unit 130 .

That is, since the moving direction and moving speed of the wind provided to the test body D by the condition providing unit 130 may be distorted by the wind interfering with the wall surface of the container unit 110, the test body (D) There is a problem that the hovering maintenance performance according to the air volume and wind speed of the air conditioner cannot be accurately measured.

In order to solve this problem, a suction port may be formed inside the container unit 110 .

The suction port may be installed inside the container unit 110 , and may be formed at a location facing the condition providing unit 130 .

In this case, the suction power of the suction port is preferably such that it does not affect the wind volume, wind speed, and wind direction provided by the condition providing unit 130 .

The suction port may absorb the wind provided from the condition providing unit 130 , and may prevent the wind provided from the condition providing unit 130 from interfering with the wall surface of the container unit 110 .

According to this, since the wind speed, air volume, and wind direction of the wind provided by the condition providing unit 130 can be accurately provided to the test body D, the hovering maintenance performance of the test body D can be accurately measured.

Meanwhile, a communication pipe may be installed in the container unit 110 , and the communication pipe may be connected to the suction port.

In addition, one end of the communication pipe may be connected to the suction port, and the other end may be connected to the condition providing unit 130 .

That is, the wind sucked through the suction port may be moved to the condition providing unit 130 via the communication pipe.

The condition providing unit 130 may provide the wind moved from the communication pipe again to the test body (D).

The sensor unit 140 may generate movement information of the test object D by detecting the movement of the test object D.

In more detail, the sensor unit 140 may be implemented as a radar using a frequency modulation continuous method.

Since the frequency modulation continuous radar is not affected by fog, snow, rain, dust, temperature, etc., it has the advantage of more accurately detecting the test object (D). In addition, since the effect on the human body is small compared to other frequencies, there is an advantage in that the risk of electromagnetic waves is also small.

The sensor unit 140 continuously transmits a linearly modulated signal, that is, a radio wave to the test object D. Thereafter, the movement information of the test object D can be generated by receiving a signal reflected from the test object D and calculating the motion, movement distance, movement direction, movement speed, etc. of the test object D.

Meanwhile, it is preferable that three or more sensor units 140 are installed inside the container unit 110 to accurately detect the movement of the test body D.

The movement information generated by the sensor unit 140 may be transmitted to the operation unit 150 to be described later.

The calculator 150 may receive the movement information of the test object D and convert it into a coordinate value to generate the second signal. The operation unit 150 may be implemented by a GPS simulator.

The calculator 150 may include a first converter 151 , a signal generator 152 , and a second converter 153 .

The first conversion unit 151 may receive the movement information of the test object D, analyze the movement information, and generate a coordinate value regarding the current location of the test object D.

In this case, the coordinate value means a three-dimensional position coordinate value including the latitude, longitude, and altitude at which the test object D is located.

The coordinate values generated by the first transforming unit 151 are transmitted to the signal generating unit 152 to be described later.

The signal generator 152 may receive a coordinate value from the first transform unit 151 and regenerate the coordinate value into a GPS signal.

In this case, the signal generator 152 may generate a GPS signal of the IF frequency based on the received coordinate value.

In more detail, the signal generator 152 first extracts navigation data, which are variables necessary for generating a navigation message from the received coordinate values, and uses the extracted navigation data to generate a GPS signal of an IF frequency. Create a message frame. In addition, the GPS signal of the IF frequency may be generated by calculating the navigation data and the navigation message frame.

The second converter 153 may generate the second signal by converting the frequency of the GPS signal generated by the signal generator 152 into an RF frequency.

However, the above-described method of generating a GPS signal of the operation unit 150 is not limited to the above method, and any method can be implemented as long as it is a method capable of generating a GPS signal by converting the movement information of the test object D into a coordinate value. even if it is free

Meanwhile, the second signal may be continuously generated while the test object D is moved. That is, the second signal may have a different coordinate value depending on the position of the test object D. As shown in FIG.

When receiving the second signal generated by the operation unit 150 , the transmitter 160 may transmit the signal to the inside of the container unit 110 .

That is, when receiving the first signal from the receiving unit 120 , the transmitting unit 160 transmits the first signal to the container unit 110 and receives the second signal from the calculating unit 150 . When receiving, the second signal may be transmitted to the container unit 110 .

When the transmitter 160 transmits the second signal, the test object D located inside the container unit 110 receives the second signal. In addition, the test object D may generate a current coordinate value of the test object D based on the second signal.

In this case, the generated coordinate value may be coordinate value information on the position to which the test object D is moved.

According to this, the test object D can determine its current location through the coordinate values. In addition, the test object D can determine how much it has moved from the position where it started hovering through the coordinate values, and return to the position where it initially started hovering to continuously maintain the hovering state.

On the other hand, when the test object D returns to the position where it first started hovering, the test object D does not move any more and hovering is performed at a fixed position.

The sensor unit 140 continuously detects the position of the test object D and transmits it to the operation unit 150 while the test object D is moved to a certain position and then returned.

Specifically, the operation unit 150 may receive the position of the test object D from the sensor unit 140 and continuously generate a third signal.

Thereafter, when the third signal becomes the same as the first signal, that is, when the position where the first hovering started of the test object D and the current position of the test object D become the same, the test object D does not move any more, You can keep hovering from the position where you first started hovering.

In addition, when transmitting the first signal and the second signal, the transmitter 160 may control the transmission strength of the first signal and the second signal.

Meanwhile, the radius at which an object located on the ground can recognize each GPS signal transmitted from a plurality of satellites is up to 1.5 m from the object.

That is, since the test object D also has a radius of 1.5 m for recognizing each GPS signal received from a plurality of satellites, an error range of up to 3 m may occur when the test object D receives the first signal.

For example, when the coordinate value of each GPS signal received by the test object D from the satellite is (1,1,1) (hereinafter referred to as the origin X), the test object D sets the coordinate value of the GPS signal to (1, It can be recognized as an error value X1 such as 4,1) or (-2,1,1).

Therefore, the smaller the difference between the origin X and the error value X1, the more accurate the position coordinate value of the test object D can be generated.

In order to solve this problem, when the transmitter 160 transmits the first signal, the second signal, and/or the third signal, an algorithm capable of minimizing an error range may be applied.

The above-described algorithm may use the following cost minimization algorithm equation.

where W is the absolute value of X1-X.

Thereafter, a value calculated using the above-described equation is expressed as a graph, and a minimum value in the graph is obtained. The formula to find the minimum value in the graph is as follows.

The sensitivity measurement unit 170 may measure the reception sensitivity of the first signal or the second signal when the first signal or the second signal is transmitted from the transmitter 160 .

The sensitivity measuring unit 170 may measure the reception sensitivity of the test object D according to the strength of the first signal and the second signal transmitted from the transmitting unit 160 .

For example, when the transmission unit 160 transmits the first signal with different transmission strengths, the sensitivity measurement unit 170 receives the first signal and measures the reception sensitivity of the first signal.

According to this, since the minimum signal strength at which the test object D can be operated can be known, the GPS signal reception sensitivity of the test object D can be measured.

According to the drone performance test system 100 using a GPS signal according to an embodiment of the present invention as described above, by generating and transmitting the movement distance of a drone moved by an external force indoors as a GPS coordinate value, it is accurately performed indoors. It has the effect of being able to test the hovering performance of the drone.

Hereinafter, an operation of testing drone performance using a drone performance test system using a GPS signal will be briefly described.

6 is a schematic diagram illustrating a drone certification process of the drone performance test system using the GPS signal of FIG. 1 .

As shown in FIG. 6 , first, the receiver 120 receives each GPS signal from a plurality of satellites. Then, the first signal, which is the received GPS signal, is transmitted to the transmitter 160 .

The transmitter 160 may receive the first signal and transmit the first signal to the inner space S of the container unit 110 .

At this time, the test object D inside the container unit 110 may receive the first signal, and based on the first signal, may perform hovering in the inner space S of the container unit 110 . there is.

When the test object (D) performs hovering and a preset time is exceeded, the condition providing unit 130 may apply an external force to the test object (D).

The condition providing unit 130 may continuously apply an external force to the test object D until the position of the test object D is moved.

When the magnitude of the external force applied by the condition providing unit 130 is less than the force for maintaining the hovering of the test object D, the test object D may maintain the hovering state.

Conversely, when the test body D is greater than the force for maintaining hovering than the magnitude of the external force applied by the condition providing unit 130, the test body D is the size of the external force applied by the condition providing unit 130, direction can be moved.

When the test object D is moved, the sensor unit 140 may detect the movement of the test object D and generate the movement information of the test object D.

The movement information generated by the sensor unit 140 may be transmitted to the operation unit 150 , and the operation unit 150 may generate the second signal obtained by converting the movement information into coordinate values.

The second signal is transmitted to the transmitting unit 160 , and then transmitted to the inner space S of the container unit 110 by the transmitting unit 160 .

At this time, the test object D maintaining the hovering state inside the container unit 110 may receive the second signal and determine the coordinates of the current location based on the second signal.

Thereafter, the test object D may return to a position where it initially started hovering based on the second signal.

On the other hand, when the test object D returns to the position where it first started hovering, the test object D does not move any more and hovering is performed at a fixed position.

The sensor unit 140 continuously detects the position of the test object D and transmits it to the operation unit 150 while the test object D is moved to a certain position and then returned.

Specifically, the operation unit 150 may receive the position of the test object D from the sensor unit 140 and continuously generate a third signal.

Thereafter, when the third signal becomes the same as the first signal, that is, when the position where the first hovering started of the test object D and the current position of the test object D become the same, the test object D does not move any more, You can keep hovering from the position where you first started hovering.

According to the operation of the drone performance test system 100 using a GPS signal according to an embodiment of the present invention, the movement distance of the drone moved by an external force is generated and transmitted as a GPS coordinate value even indoors, so that the drone can be accurately used indoors. It has the effect of being able to test the hovering performance of

In the above, even though it has been described that all the components constituting the embodiment of the present invention operate by being combined or combined into one, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more.

In addition, terms such as "comprises", "comprises" or "have" described above mean that the corresponding component may be inherent, unless otherwise specified, excluding other components. Rather, it should be construed as being able to further include other components. All terms, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Terms commonly used, such as those defined in the dictionary, should be interpreted as being consistent with the contextual meaning of the related art, and are not interpreted in an ideal or excessively formal meaning unless explicitly defined in the present invention.

And, the above description is merely illustrative of the technical idea of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: Drone performance test system using a GPS signal according to an embodiment of the present invention
110: container unit
120: receiver
130: conditional provision
140: sensor unit
150: arithmetic unit
160: transmitter
170: sensitivity measurement unit

Claims (5)

A container part in which an internal space in which a test object can fly is formed;
a receiving unit installed outside the container unit and receiving a first signal that is a GPS signal received from an artificial satellite;
a condition providing unit for applying an external force to the test body;
a sensor unit that detects the movement of the test object and generates movement information when the test object is moved by the condition providing unit;
a calculator for converting the movement information into coordinate values to generate a second signal; and
Drone performance test system using a GPS signal installed on the inner ceiling portion of the container unit and including a transmitter configured to transmit the first signal and the second signal to the inside of the container unit.
The method according to claim 1,
Drone performance test system using a GPS signal further comprising a sensitivity measuring unit receiving the first signal and the second signal and measuring the sensitivities of the first signal and the second signal.
The method according to claim 1,
The sensor unit,
It is implemented in a radar method, and when the test object is moved, it detects the movement of the test object and generates movement information,
The movement information is
Drone performance test system using a GPS signal, characterized in that it includes the moving direction, moving distance, and moving speed of the test object.
4. The method according to claim 3,
The calculation unit,
a first conversion unit receiving the movement information of the test object and generating the position of the test object as a coordinate value;
a signal generator for regenerating the coordinate values into a GPS signal;
Drone performance test system using a GPS signal including a second converter that converts the frequency of the GPS signal generated by the signal generator to generate the second signal.
5. The method according to claim 4,
The condition providing unit,
After the transmitter transmits the first signal to the test object, the drone performance test system using a GPS signal, characterized in that applying an external force to the test object so that the test object can be moved.

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