KR20230045146A - Drone Monitoring System - Google Patents

Abstract

The present invention relates to a purpose determination and illegal activity tracking analysis/feedback monitoring system through unmanned flight pattern tracking and an unmanned aerial vehicle, and specifically to technology for providing a safe flight guideline by tracking and analyzing flight patterns and illegal activities on real-time flight information based on AI with respect to aircraft information, flight information, and environmental information and providing an alert in case of violation in order to prevent accidents involving unmanned aerial vehicles, which are increasingly dangerous. By an unmanned aerial vehicle manufacturer, provided is the unmanned aerial vehicle which provides real-time flight data patterns such as location, speed, and altitude to a base station through a gyro sensor for maintaining the attitude of the unmanned aerial vehicle, an acceleration sensor, a geomagnetic sensor, an altitude sensor equipped with a satellite antenna to communicate with a satellite and maintain the altitude, a control unit, and an IOT communication unit mounted on the unmanned aerial vehicle. The base station of the present invention (a monitoring station which monitors whether a target is flying) monitors the unmanned aerial vehicle (referred to as a drone) for real-time tracking and analysis through the IOT communication unit. In addition, data is collected through web crawling for purposes of collecting aircraft information and real-time flight information of the unmanned aerial vehicle and determining suitability for flight purposes, wherein the aircraft information includes different specifications, flight performance, and operating environment information for each manufacturer of the unmanned aerial vehicle. The flight information is collected and compared through an RFI module to derive the flight purpose by analyzing flight data patterns such as real-time location, speed, and altitude and is monitored by a monitoring system which tracks drone's flight purposes.

Description

Purpose discrimination and illegal activity tracking analysis/feedback monitoring system through unmanned flight pattern tracking {Drone Monitoring System}

The present invention relates to a purpose discrimination and illegal activity tracking analysis/feedback monitoring system and an unmanned aerial vehicle through unmanned flight pattern tracking, and in detail,

In order to prevent incidents and accidents of unmanned aerial vehicles, which are increasingly dangerous, we provide safe flight guidelines by tracking and analyzing flight patterns and illegal acts of real-time flight information based on AI of aircraft information, flight information, and environmental information. At the same time, it is about a technology that provides an alert in case of violation,

A gyro sensor, an acceleration sensor, a geomagnetic sensor, and a satellite antenna are installed on the unmanned aerial vehicle manufacturer to maintain the posture of the unmanned aerial vehicle, and the altitude sensor maintains the altitude by communicating with the satellite. If you provide an unmanned air vehicle that provides flight data patterns such as location, speed, and altitude in real time,

The base station of the present invention (monitoring station that monitors whether the target is flying) monitors for real-time tracking and analysis of unmanned aerial vehicles (referred to as drones) through the IOT communication unit

Composed of aircraft information and real-time flight information of the unmanned aerial vehicle. In the case of the above aircraft information, data is collected through web crawling for the purpose of determining whether the aircraft is suitable for flight use by collecting information on other sources of funding, flight performance, and operating environment for each manufacturer of the unmanned aerial vehicle.

In the case of flight information, a monitoring system that tracks the flight purpose of the drone by collecting and comparing data through the RFI module to derive the flight purpose by analyzing the pattern of flight data such as real-time location, speed, and altitude is monitored.

Furthermore, through the information including the ID stored in the server and the ID received by the master, even if the drone is lost or needs to be tracked, it can be tracked back and the unregistered drone identification system, which increases the loss recovery rate, monitors.

Drones are being used in various application fields such as surveillance and reconnaissance, broadcasting, delivery, and agriculture, and their use and application range is expected to rapidly expand in the future.

Although it is possible to build a convenient and safe living environment by using drones, on the contrary, adverse functions such as safety or privacy invasion may occur due to user error or intentional or drone failure.

In order to prevent this, the law establishes a drone prohibited area, and drone users must fly avoiding this area.

However, it is a pity that the flight is being conducted in violation of the law.

In general, an unmanned air vehicle (UAV; hereinafter referred to as a 'drone') is an air vehicle that flies by itself according to a program input in advance by remote control from the ground without a pilot or by recognizing and determining the surrounding environment by itself. Drones are developing very rapidly because of the advantage of being able to conveniently, quickly and safely perform missions that are dangerous to pilots, limited to human capabilities, difficult to access due to contamination, or tedious for a long time.

Anti-drone means starting with surveillance of drone flight, interfering with its operation, and stopping the operation of drones by methods such as hacking or crashing. It consists of special-purpose drones equipped with nets to capture drones that cause terrorism or crime, intrusion or surveillance of privacy, and accidents caused by inexperienced operation, or after detecting drones with radar or confirming their identity with cameras. It can also be configured as a system that can neutralize drones through a disruptor.

In particular, drones can be easily used for terrorism because they are free to move and can be easily manipulated and modified. As the price of drones decreases and ordinary people easily purchase drones, the damage to citizens due to drone crashes or abuse of drones is increasing. It's getting bigger. For example, it is expected that drone crashes or terrorism will cause significant damage to areas where a lot of people gather, such as nuclear power plants, baseball fields, parks, and subway stations.

As the use of drones has rapidly increased in recent years and the scope of their application has widened, the military dealing with highly confidential information, public security departments responsible for the safety of the general public, accommodations obliged to prevent illegal camera shooting, and those who are reluctant to expose their privacy Demand for anti-drone is occurring in various areas such as individuals, and accordingly, the size of the anti-drone industry is expected to grow rapidly, so effective anti-drone technology is required. A technology to identify whether it is a drone is also required.

Prior art literature: Registered Patent Publication No. 1881396 (Announced on July 24, 2018)

As it was devised in view of the above conventional problems,

The present invention monitors an unmanned aerial vehicle (referred to as a drone) for real-time tracking and analysis through a communication unit as a base station, and consists of aircraft information and real-time flight information of the unmanned aerial vehicle. Data collection through web crawling for the purpose of determining suitability for flight use by collecting performance and operating environment information;

Therefore, it provides a monitoring system that tracks the flight purpose of drones by collecting and comparing data through the RFI module to derive the purpose of flight by analyzing patterns of flight data such as real-time location, speed, and altitude of flight information.

Furthermore, the purpose is to provide an unregistered drone identification system that classifies drones of impure purposes through communication with the drones, and monitors and controls them.

Looking at the configuration of the present invention with reference to the accompanying drawing 1 is as follows.

a plurality of drive motors 200 and propellers 201 installed on the body of the drone 200a to take off the drone 200a from the ground;

A control unit 210 that controls the rotational speed of the drive motor 200 or reads and processes signals from a gyro sensor, an acceleration sensor, a geomagnetic sensor, and an altitude sensor;

an acceleration sensor 211 for sensing acceleration of the drone 200a; a gyro sensor 212 for detecting an inclination of the drone 200a;

a geomagnetic sensor 213 recognizing the traveling direction of the drone 200a;

an altitude holding sensor 214 for maintaining the altitude of the drone 200a;

a satellite antenna 215 that exchanges data with a satellite so as to measure the location information and altitude of the aircraft;

a communication means 230 for communicating information of the drone 200a;

a balance control unit 210a for acquiring acceleration and inclination provided from the acceleration sensor 211 and the gyro sensor 212 and controlling the balance through PID control;

a drive motor 200 for driving under the control of the balance controller 210a;

a propeller 201 rotating by receiving power from the drive motor 200;

The balance control unit 210a includes a balance control module 210b for obtaining acceleration and inclination provided from the acceleration sensor 211 and the gyro sensor 212 and performing PID control,

The base station monitors for real-time tracking and analysis of the drone through the Communication Department and consists of aircraft information and real-time flight information of the unmanned aerial vehicle. Collect data through web crawling for the purpose of determining

Therefore, in order to derive the purpose of flight by analyzing the pattern of flight data such as real-time location, speed, and altitude of flight information, data is collected and compared through the RFI module to track the purpose of drone flight. Illegal activity tracking analysis/feedback monitoring system.

The present invention, as a base station, monitors for real-time tracking and analysis of unmanned aerial vehicles (referred to as drones) through a communication unit and consists of aircraft information and real-time flight information. Data collection through web crawling for the purpose of collecting information and determining whether it is suitable for flight use;

Therefore, in order to derive the purpose of flight by analyzing the pattern of flight data such as real-time location, speed, and altitude of the flight information, the RFI module collects and compares data to track the flight purpose of the drone. can monitor

1 is an explanatory diagram of classification of drone aircraft and purpose of use of the purpose determination and illegal activity tracking analysis/feedback monitoring system through unmanned flight pattern tracking of the present invention
2 is a reference diagram showing purpose classification through unmanned flight pattern tracking and usage classification for drone flight patterns of the illegal activity tracking analysis/feedback monitoring system of the present invention;
3 is a reference diagram of the real-time unmanned aerial vehicle tracking analysis monitoring system algorithm of the present invention;
4 is a conceptual diagram of an unregistered drone identification system according to another embodiment of the present invention.
5 is a reference diagram of the non-fly zone check algorithm of the present invention
6 is a reference diagram of the altitude check algorithm of the present invention
7 is a reference diagram of the night flight check algorithm of the present invention
8 is a reference diagram of the weather condition check algorithm of the present invention
9 is a reference diagram of a densely populated area check algorithm of the present invention
10 is a reference diagram of the flight purpose check algorithm of the present invention

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The detailed description of the present invention which follows refers to the accompanying drawings which illustrate, by way of illustration, specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable one skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different from each other but are not necessarily mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in another embodiment without departing from the spirit and scope of the invention in connection with one embodiment.

Additionally, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the invention. Accordingly, the detailed description set forth below is not to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all equivalents as claimed by those claims. Like reference numbers in the drawings indicate the same or similar function throughout the various aspects.

Although the above has been described with reference to embodiments, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention described in the claims below. You will understand.

Looking at the configuration of the present invention with reference to the accompanying drawing 1 is as follows.

a plurality of drive motors 200 and propellers 201 installed on the body of the drone 200a to take off the drone 200a from the ground;

A control unit 210 that controls the rotational speed of the drive motor 200 or reads and processes signals from a gyro sensor, an acceleration sensor, a geomagnetic sensor, and an altitude sensor;

an acceleration sensor 211 for sensing acceleration of the drone 200a; a gyro sensor 212 for detecting an inclination of the drone 200a;

a geomagnetic sensor 213 recognizing the traveling direction of the drone 200a;

an altitude holding sensor 214 for maintaining the altitude of the drone 200a;

a satellite antenna 215 that exchanges data with a satellite so as to measure the location information and altitude of the aircraft;

a communication means 230 for communicating information of the drone 200a;

a balance control unit 210a for acquiring acceleration and inclination provided from the acceleration sensor 211 and the gyro sensor 212 and controlling the balance through PID control;

a drive motor 200 for driving under the control of the balance controller 210a;

a propeller 201 rotating by receiving power from the drive motor 200;

The balance control unit 210a is composed of a balance control module 210b for obtaining acceleration and inclination provided from the acceleration sensor 211 and the gyro sensor 212 and performing PID control.

The communication means 230 is an IOT communication means and is a component that provides a pattern of flight data such as location, speed, and altitude to a base station in real time.

-The geomagnetic sensor is a sensor that can detect the direction like a compass by grasping the flow of the magnetic field generated from the earth, and can recognize the direction of the drone.

As a result, the drone can recognize its own direction, enabling stable flight.

The communication means 230 includes a wireless module 250 that transmits the calculation result of the control unit 210 to a manager or user's mobile communication terminal and PC using WAP;

Through the wireless module 250 and the existing mobile communication network, the remote administrator or user's mobile communication terminal (monitor pc) transmits the unique number of the drone 200a and the specified character and measurement data stored in the storage device to the remote supervisor (flight flight). It is possible to know the information of which drone 10 from a remote place by transmitting it to a user or a place where external monitoring is conducted for the purpose of flight.

Briefly describing the active operation of the remote monitoring system, a manager or user who wants remote monitoring drives an application program installed in a mobile communication terminal, accesses the control unit 210, and checks the status with the control unit 210. Upon transmission of the request, the control unit 20 transmits the current or past results extracted in response to the status check request from the manager or user to the manager or user's mobile communication terminal.

In this embodiment, remote monitoring is performed without separate equipment by using WAP (Wireless Application Protocol) installed in the control unit 210 and the manager or user's mobile communication terminal to enable wireless data communication between the two equipments. can do.

WAP serves as a communication emulator, and converts the signal received/demodulated from the other party into meaningful information according to a predetermined protocol, thereby providing a mobile communication terminal with the status of the drone 200a in a remote place. allows you to monitor

Building big data to reduce the illegal operation rate of unmanned aerial vehicles of the present invention

- Data collection is composed of aircraft information and real-time flight information of the unmanned aerial vehicle;

-In the case of aircraft information, data collection step through web crawling for the purpose of determining suitability for flight use by collecting information on financial resources, flight performance, and operating environment for each manufacturer of the unmanned aerial vehicle;

-In the case of flight information, it consists of a data collection step through the RFI module to derive the purpose of flight by analyzing the pattern of flight data such as real-time location, speed, and altitude.

The following is a detailed look at the configuration by the accompanying drawings so that the object of the present invention can be understood in detail.

1) Data collection consists of aircraft information and real-time flight information of the unmanned aerial vehicle;

2) In the case of aircraft information, data is collected through web crawling for the purpose of determining suitability for flight use by collecting information on financial resources, flight performance, and operating environment for each manufacturer of the unmanned aerial vehicle;

3) In the case of flight information, data is collected through the RFI module to derive the purpose of flight by analyzing flight data patterns such as real-time location, speed, and altitude;

· Configuration of encryption environment to prevent leakage of collected big data

1) Configure network security to protect the development/operation environment from external attacks (web firewall and load balancing, etc.)

2) Network service and access system control to protect from external attacks during operation

3) Control access to physical space of network equipment and servers

4) Perform administrative and technical control in conjunction with application security policy

5) Implementation of development-related application security through the solution

6) Data transmission and reception encryption through application security such as cookie information encryption, SSL, encryption equipment, DB access control policy, back-end processing integrity check, checksum, and hexa-coding (64-digit hexadecimal code generation)

7) Application of secure coding to ensure system security reliability

go. System analysis based on OWASP or SANS vulnerabilities

me. Understand the user's problem specifically and define the domain of information that the software should cover

all. Secure coding analysis and design technical documents such as requirements definition, screen design, ERD, table list, table definition, program list, development standard definition, unit test scenario, integration test scenario, etc.

· Algorithm for determining flight purpose through AI-based real-time flight information pattern tracking

1) Classification of aircraft information such as manufacturer, financial resources, and flight performance collected through web crawling by flight purpose

2) Classification of actual flight use/purpose by comparing aircraft information classified by purpose with flight information collected in real time and analyzing data such as altitude, location, speed, time, etc. of aircraft information currently in flight and aircraft information

3) Classification of movement route patterns by time of location data collected from flight information classified according to use and purpose

4) Data labeling of movement path patterns classified according to use and purpose, and supervised learning using a classification model

go. Establishment of normal and error data standard ranges by visualizing collected flight information

me. Removal of missing values and outliers of movement path pattern data according to the standard range

all. Matching data categories to minimize the difference in weight of movement pattern data

la. Establishment of a multi-classification model based on analysis data of moving path patterns classified according to use and purpose

mind. All moving path pattern data is randomly grouped into one moving path verification data and the rest is classified as moving path learning data

bar. Model evaluation for the use and purpose of real-time flight information along the route after calculating the average data of error rate and accuracy

Monitoring system for real-time tracking and analysis of unmanned aerial vehicles

1) The monitoring system consists of the main screen, registration status, and flight status.

2) The main screen displays brief information on registration status and flight status by region.

3) Registration status consists of flight approval and filming approval

go. Flight Approval: Indication of type and purpose, date and time of flight, purpose and method, route and altitude, etc.

me. Approval for filming: Indication of purpose of photograph, classification and equipment, aircraft type, flight date and place, photographing and cruising altitude/cruising speed, etc.

4) Flight status provides real-time flight information, weather information, and local information

go. Flight Information: Displays data collected through LTE M1 communication such as location, altitude, speed, etc.

me. Weather information: Display weather information such as wind direction and wind speed for the flight location using OPEN API

4 is a conceptual diagram of an unregistered drone identification system 100 according to another preferred embodiment of the present invention.

The present invention relates to an unregistered drone identification system (100). More specifically, if an unregistered drone such as a terrorist drone or an invasion of personal privacy is identified by the master 20 located in the control center, it can be contacted to important facilities including national agencies to notify illegal drones. According to this, illegal drones can be monitored and accidents can be prevented in advance, and if the drone is lost or needs to be tracked through the information including the ID stored in the server 40 and the ID received by the master 20 It relates to an unregistered drone identification system (100) that can perform reverse tracking even in the case of an unregistered drone that increases the recovery rate of loss.

Referring to FIG. 1, an unregistered drone identification system 100 according to a preferred embodiment of the present invention includes a registration sub 10, a master 20, a drone recognizer 30, and a server 40. .

In particular, in the present invention, it is assumed that the drone registration system is implemented, in order to fly the drone, the drone is registered with the control center for information including the purpose of drone flight and personal information, and an ID is given. will explain

Hereinafter, the registration sub 10 will be described.

The registration sub 10 has a drone license chip embedded therein so that information including ID, drone flight purpose, and user personal information can be registered so that flight suitable for the purpose can be performed. One or more registration subs 10 can be provided.

More specifically, the registration sub 10 registers with the control center through a drone registration system and can be viewed as a drone with a built-in license chip.

On the contrary, although not represented on the drawing, the unregistered aircraft 1 is an unregistered aircraft with information including ID, drone flight purpose, and user personal information, and can be monitored, of course.

In addition, the flight vehicle described in the present invention can be viewed as a drone that has not yet been confirmed whether it is a registered sub 10 or an unregistered flight vehicle 1, and through the drone recognition unit 30 of the present invention, birds other than drones, falling Other objects, including objects, leaves, etc., may not be recognized.

The master 20 is installed in the control center and receives data including an encrypted ID from the registration sub 10 located within a communication available area.

In addition, the master 20 may be installed outside the control center and may be waterproofed to protect it from external moisture.

In addition, although not shown in the drawings, in order to prevent a situation in which snow may accumulate on the master 20 installed outside and cause poor communication, a heat generating module is attached to the master 20 to generate heat with the heat generating module as needed. It can generate and melt the snow so that communication performance can be maintained smoothly.

The drone recognition unit 30 includes a program for recognizing the drone as an image, is connected to a photographing device attached to the master 20, recognizes the drone, and transfers its location information and image information to the master 20. transmit

For example, the drone recognition unit 30 can recognize a drone by programming to learn to recognize a drone using OpenCV and yolo, an artificial intelligence.

Since OpenCV and yolo are already known technologies, detailed descriptions will be omitted.

The server 40 receives and manages the registration information of the drone license chip, and controls the master 20 to receive information including the ID and purpose of the flight vehicle. Receive communication details from the master 20 as encrypted data receive, store and manage communication details.

In addition, when the server 40 confirms that a drone that does not transmit data including an ID to the server 40 is found, it can notify the surrounding public institutions of the danger.

Previously, the configuration of the present invention was described in detail, and hereinafter, the process of operating with the configuration of the present invention will be described in detail.

First of all, the process of identifying the flight object as the registration sub 10 is explained. The master 20 located in the control center checks the flight information (location information and image information) of the drone through the drone recognition unit 30, and In (20), as the drone's location information and image information are received and transmitted to the server 40, the server 40 sends a request signal requiring identification of the flying object recognized by the drone recognition unit 30 to the master 20. and transmits a request signal requesting an ID from the master 20 to the aircraft, and the registration sub 10 that receives it transmits an encrypted ID, and the master 20 that receives the encrypted ID transmits a server ( 40), the server 40 verifies that it is the registered sub 10, checks the information of the registered sub 10, and records the details.

In addition, when the server 40 receives the encrypted ID and determines whether it is a registered ID, if the ID is a registered ID and the information is different from previously stored information, it is updated and stored as new data.

In addition, explaining the process of confirming that the flight object is an unregistered flight vehicle 1, the flight of the drone (location information and image information) is checked in the master 20 located in the control center through the drone recognition unit 30, and the master ( 20) receives the location information and image information of the drone and transmits them to the server 40, so that the server 40 transmits a request signal requiring identification of the flying object recognized by the drone recognition unit 30 to the master 20 And, the master 20 transmits a request signal requesting an ID to the aircraft, but if there is no response to the request signal, the recording device attached to the master 20 records or takes a picture of the aircraft, and the server 40 ), and the server 40 records image information and location information, and transmits the information of the unregistered aircraft 1 to organizations that can take action, including specific public institutions.

In addition, if the ID received from the aircraft in response to the server 40's ID request through the master 20, but is not searched for as a registered ID in the server 40, the server 40 does not respond to the request signal. Determined in the same way as the situation, the master 20 records or takes a picture of the aircraft with a recording device, transmits it to the server 40, and the server 40 records image information and location information, which is specified. It is characterized in that the information of the unregistered aircraft (1) is transmitted to organizations that can take action, including public organizations.

In addition, when the drone is lost, the lost location can be tracked through information including the ID stored in the server 40 and the ID received from the master 20, thereby increasing the recovery rate of loss.

The unmanned aerial vehicle tracking analysis monitoring system of the present invention includes three software programs (administrator monitoring web server, RFI module communication server, user APP [[[APP refers to the following. Application software (application): any software that runs on the operating system. It consists of the US political party .APP (file name)]]] ) and one piece of hardware (RFI module).

This system transmits PIN (Personal Identification Number), latitude, longitude, and altitude data to the communication server in real time by attaching an RFI module to an existing unmanned aerial vehicle. The purpose is to determine whether or not the weather condition, densely populated area, or flight purpose was violated, record the fact that occurred, and provide feedback so as not to violate the pilot compliance requirements set forth in the Aviation Act.

1.RFIradio frequency interference module communication server

The server for communication with the RFI module transmits/receives data by connecting the socket through a designated port with TCP/IP Socket, and the data transmission/reception cycle is set at 1 second to provide real-time monitoring and feedback.

The data received from the RFI module are PIN for module identification and latitude, longitude, and altitude for determining location.

At this time, the flight information registered before the flight is imported through the received PIN and used as data to save the flight record.

- According to the pilot compliance requirements provided by the Aviation Act, flying in unauthorized no-fly zones, control zones, and flight restricted zones is prohibited.

Violation of the no-fly zone is classified into safety, caution, warning, and violation, and designates caution when approaching within a certain distance from the boundary of the no-fly zone, warning when very close, and violation when exceeding the boundary. .

(See Fig. 5 No-Fly Zone Check Algorithm)

-Unmanned aerial vehicle pilots can receive notifications and feedback on cautions, warnings, and violations through the user APP.

The latitude and longitude values received in real time from the RFI module are compared with the coordinates of the non-flyable zone to check whether or not it exists within the zone. , Wind speed, latitude, longitude, and altitude are stored, and a flight record book is created so that the record can be viewed and downloaded.

② Altitude check

According to the regulations for pilots provided by the Aviation Act, it is prohibited to fly at an altitude of 150m or higher without permission from each competent authority.

Check the altitude received from the RFI module in real time and designate caution when it is 130~140m, warning when it is 140~150m, and violation when it is over 150m. (See Fig. 6 altitude check algorithm)

-In the case of flight at an altitude of 150m or higher, the PIN, time, violation type, weather, wind speed, latitude, longitude, and altitude of the unmanned aerial vehicle are stored, and a flight record book is created so that the record can be viewed and downloaded.

UAV pilots can receive notifications and feedback on cautions, warnings, and violations through the user APP.

③ Night flight check

According to the pilot compliance requirements provided by the Aviation Act, flying before sunrise and after sunset is prohibited.

The latitude and longitude values received in real time from the RFI module are transferred to the sunrise-sunset API to secure the sunrise and sunset times of the date corresponding to the place in flight, and compare whether the data falls within the time after sunset and before sunrise by comparing with the incoming time. box.

(See Fig. 7 Night Flight Check Algorithm)

-As a result of comparison, if it is after sunset and before sunrise, it is regarded as a night flight, and the PIN, time, violation type, weather, wind speed, latitude, longitude, and altitude of the unmanned aerial vehicle are stored, and the flight log is created so that the record can be viewed and downloaded. box.

UAV pilots can receive notifications and feedback on night flights through the user APP.

④ Weather condition check

According to the pilot compliance requirements provided by the Aviation Act, flying outside the visual range of the pilot is prohibited.

The latitude and longitude values received in real time from the RFI module are transferred to the openweathermap API to obtain visibility, wind speed, and weather data corresponding to the place in flight.

(See Fig. 8 Weather condition check algorithm)

-Measure the distance between the flight start point of the UAV and the current location of the UAV, and if this value is greater than the visible distance, it is regarded as a weather condition (visible distance) violation, and the PIN of the UAV, time, type of violation, weather, and wind speed , latitude, longitude, and altitude are saved and a flight record book is created so that the record can be viewed and downloaded.

In the case of wind speed, if the wind speed exceeds 10 m/s, it is regarded as a meteorological condition (wind speed) violation, and the PIN, time, violation type, weather, wind speed, latitude, longitude, and altitude of the unmanned aerial vehicle are stored and the flight log is saved. Created and implemented to view and download records.

In the case of weather, when flying in bad weather (rain, heavy rain, thunderstorm), it is regarded as a violation of weather conditions (weather), and the PIN, time, violation type, weather, wind speed, latitude, longitude, and altitude of the unmanned aerial vehicle are stored and recorded in the flight log created so that records can be viewed and downloaded.

UAV pilots can receive notifications and feedback on weather conditions violations through the user APP.

⑤ Check densely populated areas

Pilot compliance requirements provided by the Aviation Act prohibit dangerous flights over crowded places (stadiums, various festivals).

Data on densely populated areas are obtained from the Tour API provided by the Korea Tourism Organization, stored in the database, and then called and used.

(See Fig. 9 Algorithm for checking densely populated areas)

-Compare whether the latitude and longitude values received in real time from the RFI module are within the range of densely populated areas, and if they exceed the boundaries, it is regarded as a violation of densely populated areas, and the PIN of the unmanned aerial vehicle, time, type of violation, weather, wind speed, latitude, It saves longitude and altitude and creates a flight record book so that it can be viewed and downloaded.

UAV pilots can receive notifications and feedback about densely populated areas through the user APP.

⑥ Flight purpose check

In order to fly an unmanned aerial vehicle in most areas except for the airspace designated by the Ministry of Land, Infrastructure and Transport, a flight report must be made, and the purpose of the flight and the location and time must be stated.

At this time, a flight pattern analysis model is applied to determine whether or not the aircraft is flying according to the reported flight purpose.

The flight pattern analysis model was created by learning a total of 40,000 movement path pattern data by collecting 10,000 each of the four most frequently used patterns (search, control, filming, and transportation) designated by the Korea Drone Education Institute.

(See Fig. 10 flight purpose check algorithm)

-In order to analyze the flight pattern, the moving path of the drone is saved, and at the time the flight is over, the image file pattern of the moving path is analyzed to determine whether the actual flight was performed according to the purpose of the flight.

Depending on the purpose of the flight, the movement path of the aircraft according to a certain period is created as a Matplotlib-based 2D flat graph using the GPS value measured by the RFI module during flight, and the graph is imaged and processed into 2D numerical data for pixel values. box.

Numerical data processed in the form of n*n is changed to numpy-type one-dimensional array data through dimensionality reduction, and labeling is performed according to the flight pattern (purpose).

Finally, the training data set (one-dimensional array data) and the correct answer data set (labeling data) are defined and divided into the training data and verification data set at a ratio of 8:2.

The learning model used the decision tree model Randomforest, class_weight value was "balanced", and n_estimators value was limited to 50.

Based on the decision tree model, AI learning is conducted on the processed numerical data for each flight pattern (purpose), and the closest flight purpose is determined by determining the similarity between the pre-learned pattern dataset and the unconfirmed pattern.

If the reported purpose of the flight and the analysis result do not match, it is regarded as a violation, and the PIN, time, violation type, weather, wind speed, latitude, longitude, and altitude of the unmanned aerial vehicle are stored, and a flight record book is created so that the record can be viewed and downloaded. implemented.

UAV pilots can receive notifications and feedback on the purpose of flight through the user APP.

200: drive motor
200a: drone
201: propeller
211: acceleration sensor
212: gyro sensor
213: geomagnetic sensor
214: altitude holding sensor
215: satellite antenna

Claims (1)

a plurality of drive motors 200 and propellers 201 installed on the body of the drone 200a to take off the drone 200a from the ground;
A control unit 210 that controls the rotational speed of the drive motor 200 or reads and processes signals from a gyro sensor, an acceleration sensor, a geomagnetic sensor, and an altitude sensor;

an acceleration sensor 211 for sensing acceleration of the drone 200a; a gyro sensor 212 for detecting an inclination of the drone 200a;
a geomagnetic sensor 213 recognizing the traveling direction of the drone 200a;

an altitude holding sensor 214 for maintaining the altitude of the drone 200a;
a satellite antenna 215 that exchanges data with a satellite so as to measure the location information and altitude of the aircraft;
a communication means 230 for communicating information of the drone 200a;

a balance control unit 210a for acquiring acceleration and inclination provided from the acceleration sensor 211 and the gyro sensor 212 and controlling the balance through PID control;

a drive motor 200 for driving under the control of the balance controller 210a;
a propeller 201 rotating by receiving power from the drive motor 200;

The balance control unit 210a includes a balance control module 210b for obtaining acceleration and inclination provided from the acceleration sensor 211 and the gyro sensor 212 and performing PID control,
The base station monitors for real-time tracking and analysis of the drone through the communication unit, and consists of aircraft information and real-time flight information of the unmanned aerial vehicle. Collecting data through web crawling for the purpose of determining suitability for use;

In order to derive the purpose of flight by analyzing the pattern of flight data such as real-time location, speed, and altitude of flight information, data is collected and compared through the RFI module to track the purpose of drone flight. Behavioral tracking analysis/feedback monitoring system.

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