KR20240002531A - Method and system for vr-based drone practical test evaluation using rtk gps - Google Patents

Abstract

The present invention measures the location and direction of the drone using RTK GPS (Real Time Kinematic GPS), and displays a trajectory in a virtual space that represents the drone practical test location according to the movement of the drone to evaluate the results of the practical test. This is about a VR-based drone practical test evaluation method and system using RTK GPS.
The VR-based drone practical test evaluation method using RTK GPS according to an embodiment of the present invention includes the steps of acquiring information about the drone practical test location, and 3D mapping the practical test location based on the information about the practical test location. A step of implementing the drone, obtaining location information and direction information of the drone from an RTK GPS (Real Time Kinematic GPS) module mounted on the drone, and based on the acquired location information and direction information of the drone, It includes implementing a virtual drone in the same location as the drone in the implemented virtual space.

Description

VR-based drone practical test evaluation method and system using RTK GPS {METHOD AND SYSTEM FOR VR-BASED DRONE PRACTICAL TEST EVALUATION USING RTK GPS}

The present invention relates to a VR-based drone practical test evaluation method and system using RTK GPS. More specifically, the position and direction of the drone are measured using RTK GPS (Real Time Kinematic GPS) and according to the drone's movement. This is about a VR-based drone practical test evaluation method and system using RTK GPS that evaluates the results of the practical test by displaying a trajectory in a virtual space that embodies the drone practical test location.

In general, an unmanned aerial vehicle is an airplane or helicopter-shaped vehicle that flies without a person on board and is guided by radio waves, also known as a drone.

Conventionally, drones were mainly used for military purposes, but recently, as their commercial value has emerged, several companies are entering the business. Specifically, drones are being developed as flying vehicles with various sizes and performances depending on the purpose of use, and are being used in various commercial fields such as logistics delivery, broadcasting and leisure, and for human use in jungles, remote areas, volcanic areas, natural disaster areas, and nuclear power plant accident areas. It is being deployed and used in inaccessible areas.

In addition, the drone performs remote surveillance of a specific area by quickly moving along a preset path through mounted cameras or sensors, and is connected to the control device or pilot terminal by wire or wireless, and follows commands transmitted from the terminal. It performs functions such as flight and photography.

These drone piloting licenses are issued upon completing a certain amount of flight hours depending on the level and passing the department exam and practical exam.

However, in the practical exam, the exact location and trajectory of the drone are judged by the naked eye in general private academies, and as a result, the test results are notified based on the subjective judgment of the examiner, which reduces fairness.

In addition, the national practical test site can provide objectivity to the test through a system that detects the location and trajectory of the unmanned aircraft using LIDAR, but if it is not an expensive LIDAR, it is difficult to track the object and the location of the drone is difficult. There are limitations in recording information and processing flight history times in real time. In addition, post-processing is required to extract the drone's location, there are constraints in storing or replaying high-capacity data in expensive storage, and when the location of the LIDAR changes, spatial mapping needs to be reworked and data consistency is limited. There is a problem that maintenance is limited.

The problem that the present invention aims to solve is to measure the location and direction of the drone using RTK GPS (Real Time Kinematic GPS), and display the trajectory in a virtual space that implements the drone practical test location according to the movement of the drone to conduct the practical test. It provides a VR-based drone practical test evaluation method and system using RTK GPS to evaluate the results of.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

The VR-based drone practical test evaluation method using RTK GPS according to an embodiment of the present invention to solve the above-described problem includes the steps of acquiring information about the drone practical test location, and based on the information about the practical test location. Implementing the practical test location in 3D, acquiring location information and direction information of the drone from an RTK GPS (Real Time Kinematic GPS) module mounted on the drone, and obtaining location information and direction of the drone. Based on the information, it may include implementing a virtual drone in the same location as the drone in a virtual space implemented in 3D.

In addition, the step of obtaining information about the drone practical test location further includes obtaining information about the location, size, and location of the drone practical test site and the location, shape, and size of the markings placed for evaluation of the practical test. The step of acquiring location information and direction information of the drone includes acquiring values for latitude, longitude, and altitude of the drone, and yaw, roll, and pitch of the drone. ) may further include obtaining a value for.

In addition, the step of implementing the virtual drone includes controlling the virtual drone to move in the same manner as the drone according to the movement of the drone in the virtual space based on the location information and the direction information, It may further include displaying a trajectory according to the movement of the virtual drone and analyzing the trajectory to evaluate the results of the practical test.

In addition, the step of evaluating the results of the practical test includes obtaining evaluation items and evaluation criteria for the practical test, analyzing the shape of the trajectory, and the result of analyzing the shape of the trajectory is the evaluation item. and a step of determining whether the evaluation criteria are satisfied.

In addition, the step of determining whether the evaluation items and evaluation criteria are satisfied includes determining a parameter value for the movement of the virtual drone based on a result of analyzing the shape of the trajectory, and comparing the parameter value with a reference value. It may include a step of determining that the evaluation standard is satisfied when the parameter value is within a reference value range, and a step of providing whether the evaluation standard is satisfied.

In addition, the step of determining whether the evaluation items and evaluation criteria are satisfied includes setting a possible movement range based on the mark according to the evaluation items and evaluation criteria of the practical test, and analyzing the shape of the trajectory. Based on this, determining whether the virtual drone has moved within the movable range; determining that evaluation criteria are satisfied if the virtual drone has moved within the movable range; and satisfying the evaluation criteria. It may include a step of providing whether or not.

In addition, the step of determining whether the evaluation items and evaluation criteria are satisfied includes comparing the shape of the trajectory with a preset shape according to the evaluation item, calculating the degree of similarity between the shape of the trajectory and the preset shape, and , it may include a step of determining that the evaluation criteria for the evaluation item are satisfied when the calculated similarity is greater than or equal to a preset value, and a step of providing whether the evaluation criteria are satisfied.

A VR-based drone practical test evaluation system using RTK GPS according to an embodiment of the present invention to solve the above-mentioned problems includes a drone that operates according to the tester's manipulation, and is mounted on the drone to determine the location and direction of the drone. An RTK GPS (Real Time Kinematic GPS) module that measures, acquires location information and direction information of the drone from the RTK GPS module, and based on the location information and direction information, a virtual drone practical test site is realized in 3D. It may include an evaluation device that implements a virtual drone in the same location as the drone in space.

The VR-based drone practical test evaluation program using RTK GPS according to an embodiment of the present invention to solve the above-described problem is combined with a computer as hardware to provide a VR-based drone practical test evaluation method using RTK GPS. It can be stored on a computer-readable recording medium so that it can be performed.

Other specific details of the invention are included in the detailed description and drawings.

The present invention can determine the location of the drone in real time by measuring the location and direction of the drone using RTK GPS (Real Time Kinematic GPS).

In addition, by displaying the trajectory on a virtual space that embodies the drone practical test location according to the drone's movement, intuitive evaluation of the trajectory is possible and can also be used as an objective evaluation index.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

Figure 1 is a diagram illustrating a VR-based drone practical test evaluation system using RTK GPS according to an embodiment of the present invention.
Figure 2 is a hardware configuration diagram of an evaluation device according to an embodiment of the present invention.
Figure 3 is a diagram showing a VR-based drone practical test evaluation method using RTK GPS according to an embodiment of the present invention.
Figure 4 is a diagram illustrating an example of displaying a trajectory of a virtual drone according to an embodiment of the present invention.
Figure 5 is a diagram explaining a test course for left and right hovering according to an embodiment of the present invention.
Figure 6 is a diagram illustrating a horizontal flight test course according to an embodiment of the present invention.
Figure 7 is a diagram illustrating a triangular flight test course according to an embodiment of the present invention.
Figure 8 is a diagram illustrating a circumferential flight test course according to an embodiment of the present invention.
Figure 9 is a diagram illustrating an emergency approach and landing test course according to an embodiment of the present invention.
Figure 10 is a diagram illustrating a normal approach and landing test course according to an embodiment of the present invention.
Figure 11 is a diagram illustrating a crosswind approach and landing test course according to an embodiment of the present invention.
Figure 12 is a diagram showing a method of evaluating practical test results based on the shape of the trajectory according to the first embodiment of the present invention.
Figure 13 is a diagram showing a method of analyzing test results based on the shape of the trajectory according to the second embodiment of the present invention.
Figure 14 is a diagram showing an example of setting a movable range according to an embodiment of the present invention.
Figure 15 is a diagram showing a method of analyzing test results based on the shape of the trajectory according to the third embodiment of the present invention.
Figure 16 is a diagram illustrating an example of calculating the similarity between preset trace shapes according to an embodiment of the present invention.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely provided to ensure that the disclosure of the present invention is complete and to provide a general understanding of the technical field to which the present invention pertains. It is provided to fully inform the skilled person of the scope of the present invention, and the present invention is only defined by the scope of the claims.

The terminology used herein is for describing embodiments and is not intended to limit the invention. As used herein, singular forms also include plural forms, unless specifically stated otherwise in the context. As used in the specification, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other elements in addition to the mentioned elements. Like reference numerals refer to like elements throughout the specification, and “and/or” includes each and every combination of one or more of the referenced elements. Although “first”, “second”, etc. are used to describe various components, these components are of course not limited by these terms. These terms are merely used to distinguish one component from another. Therefore, it goes without saying that the first component mentioned below may also be a second component within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless clearly specifically defined.

As used in the specification, the term “unit” or “module” refers to a hardware component such as software, FPGA, or ASIC, and the “unit” or “module” performs certain roles. However, “part” or “module” is not limited to software or hardware. A “unit” or “module” may be configured to reside on an addressable storage medium and may be configured to run on one or more processors. Thus, as an example, a “part” or “module” refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, Includes procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functionality provided within components and “parts” or “modules” can be combined into smaller components and “parts” or “modules” or into additional components and “parts” or “modules”. Could be further separated.

In this specification, a computer refers to all types of hardware devices including at least one processor, and depending on the embodiment, it may be understood as encompassing software configurations that operate on the hardware device. For example, a computer can be understood to include, but is not limited to, a smartphone, tablet PC, desktop, laptop, and user clients and applications running on each device.

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

Each step described in this specification is described as being performed by a computer, but the subject of each step is not limited thereto, and depending on the embodiment, at least part of each step may be performed in a different device.

Figure 1 is a diagram illustrating a VR-based drone practical test evaluation system using RTK GPS according to an embodiment of the present invention.

Referring to FIG. 1, the VR-based drone practical test evaluation system 10 using RTK GPS according to an embodiment of the present invention includes an evaluation device 100, a drone 200, and an RTK GPS module 300. You can.

Here, the VR-based drone practical test evaluation system 10 using RTK GPS shown in FIG. 1 is according to an embodiment, and its components are not limited to the embodiment shown in FIG. 1, and may be used as necessary. It may be added, changed or deleted accordingly.

The drone 200 can operate according to the tester's manipulation, and the RTK GPS module 300 is mounted on the drone 200 to measure the location and direction of the drone 200.

RTK GPS is a technology that can acquire location information with an error of 1 to 2 cm in real time by using not only the code phase of the satellite signal used by general GPS, but also a carrier phase that is 1,000 times more precise.

Specifically, since GPS operates by receiving signals from artificial satellites in the sky, errors of hundreds of meters may occur when the sky is partially obscured by buildings or trees. Even in open sky, GPS has an average error of about 5 to 10 meters due to various reasons (for example, satellite orbit error, satellite clock error, satellite data error, ionospheric delay, convective layer delay, etc.). Most of these error-causing components commonly occur in adjacent spaces within tens of kilometers and have similar characteristics. For example, this means that when A and B are in similar locations, GPS errors occur similarly. Therefore, if the error of A is calculated, error information is generated, and this information is transmitted to B to offset the error, B can also obtain more accurate location information.

By installing a very sophisticated GPS antenna and receiver at a fixed location whose absolute coordinates are known, measuring GPS location information every second and comparing it with absolute coordinates, the error of GPS every second can be obtained. The facility that generates correction information using these errors is called a base station. By transmitting the correction information generated at the reference station to a GPS receiver moving in an adjacent space and performing a correction operation to offset common errors, accurate location information at the 1m level can be obtained. This is called DGPS (Differential GPS) technology, and RTK GPS may be one of the DGPS technologies.

For example, the existing method calculated location information through communication between GPS satellites in the sky, a control station on the ground, and a drone's GPS receiver, but RTK GPS can add one more reference station. The reference station may be an antenna fixed to the ground, and this antenna can serve as a reference point to determine the relative distance and angle of the drone 200 in real time and then correct the location information obtained by GPS. Since the location of the drone 200 is determined in real time, if there is any error in the signal sent by the satellite, the error can be reduced by immediately sending a correction signal. This RTK GPS can make it possible to reduce the existing meter (m) unit error to centimeter (cm) unit.

The evaluation device 100 acquires the location information and direction information of the drone 200 from the RTK GPS module 300, and based on the acquired location information and direction information, the drone is installed in a virtual space that implements the drone practical test location. The results of the practical test can be evaluated by displaying the trajectory according to the movement of (200).

Figure 2 is a hardware configuration diagram of an evaluation device according to an embodiment of the present invention.

Referring to FIG. 2, the evaluation device 100 according to an embodiment of the present invention includes one or more processors 110, a memory 120 that loads a computer program 151 executed by the processor 110, It may include a bus 130, a communication interface 140, and a storage 150 that stores a computer program 151. Here, only components related to the embodiment of the present invention are shown in Figure 2. Accordingly, anyone skilled in the art to which the present invention pertains will know that other general-purpose components may be included in addition to the components shown in FIG. 2.

The processor 110 controls the overall operation of each component of the evaluation device 100. The processor 110 includes a Central Processing Unit (CPU), Micro Processor Unit (MPU), Micro Controller Unit (MCU), Graphic Processing Unit (GPU), or any other type of processor well known in the art of the present invention. It can be.

Additionally, the processor 110 may perform operations on at least one application or program for executing methods according to embodiments of the present invention, and the evaluation device 100 may include one or more processors.

In various embodiments, the processor 110 includes random access memory (RAM) (not shown) and read memory (ROM) that temporarily and/or permanently store signals (or data) processed within the processor 110. -Only Memory, not shown) may be further included. Additionally, the processor 110 may be implemented in the form of a system on chip (SoC) that includes at least one of a graphics processing unit, RAM, and ROM.

Memory 120 stores various data, commands and/or information. Memory 120 may load a computer program 151 from storage 150 to execute methods/operations according to various embodiments of the present invention. When the computer program 151 is loaded into the memory 120, the processor 110 can perform the method/operation by executing one or more instructions constituting the computer program 151. The memory 120 may be implemented as a volatile memory such as RAM, but the technical scope of the present disclosure is not limited thereto.

Bus 130 provides communication functions between components of evaluation device 100. The bus 130 may be implemented as various types of buses, such as an address bus, a data bus, and a control bus.

The communication interface 140 supports wired and wireless Internet communication of the evaluation device 100. Additionally, the communication interface 140 may support various communication methods other than Internet communication. To this end, the communication interface 140 may be configured to include a communication module well known in the technical field of the present invention. In some embodiments, communication interface 140 may be omitted.

Storage 150 may store the computer program 151 non-temporarily. When performing a VR-based drone practical test evaluation method using RTK GPS through the evaluation device 100, the storage 150 stores various information necessary to provide a VR-based drone practical test evaluation method using RTK GPS. can be saved.

The storage 150 is a non-volatile memory such as Read Only Memory (ROM), Erasable Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), flash memory, a hard disk, a removable disk, or a device well known in the technical field to which the present invention pertains. It may be configured to include any known type of computer-readable recording medium.

The computer program 151, when loaded into the memory 120, may include one or more instructions that cause the processor 110 to perform methods/operations according to various embodiments of the present invention. That is, the processor 110 can perform the method/operation according to various embodiments of the present invention by executing the one or more instructions.

In one embodiment, the computer program 151 includes the steps of acquiring information about a drone practical test location, implementing the practical test location in 3D based on the information about the practical test location, and mounting the drone on the drone. A step of acquiring location information and direction information of the drone from an RTK GPS (Real Time Kinematic GPS) module, and based on the acquired location information and direction information of the drone, a device identical to the drone in a virtual space implemented in 3D It may include one or more instructions for performing a VR-based drone practical test evaluation method using RTK GPS, which includes implementing a virtual drone at a location.

The steps of the method or algorithm described in connection with embodiments of the present invention may be implemented directly in hardware, implemented as a software module executed by hardware, or a combination thereof. The software module may be RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), Flash Memory, hard disk, removable disk, CD-ROM, or It may reside on any type of computer-readable recording medium well known in the art to which the present invention pertains.

The components of the present invention may be implemented as a program (or application) and stored in a medium in order to be executed in conjunction with a hardware computer. Components of the invention may be implemented as software programming or software elements, and similarly, embodiments may include various algorithms implemented as combinations of data structures, processes, routines or other programming constructs, such as C, C++, , may be implemented in a programming or scripting language such as Java, assembler, etc. Functional aspects may be implemented as algorithms running on one or more processors.

Figure 3 is a diagram showing a VR-based drone practical test evaluation method using RTK GPS according to an embodiment of the present invention, and Figure 4 is a diagram showing an example of displaying the trajectory of a virtual drone according to an embodiment of the present invention. .

Referring to FIG. 3, the evaluation device 100 can obtain information about the drone practical test location (S100). Information about the drone practical test location may be information about the location and size of the drone practical test site and the location, shape and size of the marks placed for evaluation of the practical test. That is, the evaluation device 100 can obtain information about the latitude, longitude, area, shape, etc. of the drone practical test site. For example, the drone practical test location may be a space that includes a large open space outside, and the evaluation device 100 can obtain the latitude and longitude where this empty space is located, and obtain the shape and area of this empty space.

In addition, the drone practical test is a test to evaluate whether the drone 200 is well controlled according to evaluation items and evaluation standards, and can evaluate hovering, circumferential flight, triangular flight, forward and backward flight, etc. At this time, a mark may be displayed on the floor of the practical test site for the practical test, and the evaluation device 100 may evaluate whether the drone 200 is flying normally by following the mark displayed on the floor. Marks may be displayed differently depending on the type of flight for which the practical test is being conducted, and may include shapes drawn on the ground or points marked through a rubber cone.

The evaluation device 100 can obtain information about the location, shape, and size of the mark displayed at the practical test location. For example, in the case of a place to test circumferential flight, a circle may be drawn, and the evaluation device 100 may obtain the size, shape, and location of the drawn circle. Here, the position of the circle may mean where the circle is drawn in the space where the circle is drawn.

Information on the drone practical test location may be entered by the evaluator, or an image or video of the drone practical test location may be obtained, and the shape and size of the practical test location may be obtained by analyzing the acquired image or video. It is not limited to this.

The evaluation device 100 can implement the practical test location in 3D based on information about the practical test location (S200). The evaluation device 100 can implement a virtual space according to the shape and size of the acquired drone practical test location. In addition, the computing device 100 can map a location in virtual space according to the location of the drone practical test site, and displays a mark having the same size and shape at the same location as the mark at the actual practical test site in the virtual space. It can be implemented. In other words, the actual practical test location and the virtual space may have the same shape and size.

The evaluation device 100 can obtain location information and direction information of the drone 200 from the RTK GPS module 300 (S300). At this time, the drone 200 may be placed in a stationary state at a preset position to set the position of the virtual drone in virtual space. That is, after placing the drone 200 at the starting point for the practical test, the test can be prepared, and the position of the drone 200 at this time can be obtained and pairing with the virtual space can be performed. However, it is not limited to this, and it may also be possible to obtain the location of the drone 200 in flight. Here, the location information may include values for the latitude, longitude, and altitude of the drone 200, and the direction information may include values for the yaw, roll, and pitch of the drone 200. It may include, but is not limited to this.

The evaluation device 100 may implement a virtual drone in the same location as the drone 200 in a 3D virtual space based on the acquired location information and direction information of the drone 200 (S400).

For example, when the actual drone 200 is placed on the first mark among the displayed marks at the actual practical test site, the evaluation device 100 also places the virtual drone in the virtual space on the first mark based on the location of the actual drone 200. It can be implemented to be placed on a marker. At this time, the virtual drone may be implemented to be placed in the same direction according to the direction of the actual drone 200. Here, the direction of the drone 200 may depend on options preset in the drone 200. For example, the direction of the drone 200 may be set to the front or rear of the aircraft, and the controller may set the drone ( When the drone 200 is controlled to move forward, the side of the aircraft corresponding to the direction in which the drone 200 moves forward may be set to the front. Additionally, the direction of the aircraft may be set according to the direction of the camera provided on the drone 200, and the direction of the aircraft may be set according to the direction in which the drone 200 is placed before the start of the test.

The evaluation device 100 can receive the location and direction of the drone 200 from the RTK GPS module 300 at regular time intervals, and creates a virtual drone in virtual space according to the received location and direction of the drone 200. It can be marked. For example, when the location of the actual drone 200 changes, the evaluation device 100 may also change the location of the virtual drone to a location in virtual space corresponding to the location of the actual drone 200. In other words, the virtual drone can move in the same manner in virtual space as the drone 200 moves.

The evaluation device 100 may display a trajectory according to the movement of the virtual drone. For example, as shown in FIG. 4, when the virtual drone (V_D) in the virtual space (V_S) stops on the mark (M) and then rises, the evaluation device 100 follows the movement of the virtual drone (V_D) to the mark. The trajectory (T) that was above (M) and then rose can be displayed. Meanwhile, the present invention is not limited to this, and the trajectory may be displayed continuously according to the movement of the virtual drone (V_D).

The evaluation device 100 can evaluate the results of the practical test by analyzing the trajectory of the virtual drone (S500).

The evaluation device 100 can obtain the evaluation items and evaluation standards of the practical test. Evaluation items may include left and right hovering, level flight, triangular flight, circumferential flight, emergency approach and landing, normal approach and landing, and crosswind approach and landing, and the evaluation criteria may be different for each evaluation item. The evaluation items and evaluation criteria for the practical test will be explained with reference to Figures 5 to 11.

Figure 5 is a diagram explaining a test course for left and right hovering according to an embodiment of the present invention. Here, A, B, C, D, and H may each mean a mark.

Referring to FIG. 5, left and right hovering involves the drone 200 hovering above point H moving to point A with its nose facing point C and then hovering, with its nose pointing towards point D, point B, and point C. It may be an evaluation to run them sequentially.

The evaluation criteria for left and right hovering may be whether the drone 200 maintains hovering without leaving point A, the nose direction of the drone 200 at each point, and the nose direction of the drone 200. By extracting the angle between point A and the drone 200 hovering above point A, it can be determined whether hovering is maintained, and by obtaining the direction of the drone 200 at each point, the heading direction of the drone 200 can be determined.

Figure 6 is a diagram illustrating a horizontal flight test course according to an embodiment of the present invention. Here, A, B, C, D, E, and H may each mean a mark.

Referring to FIG. 6, in horizontal flight, the drone 200 hovering above point A moves to point E with its nose facing point C, then stops, and then moves to point A while maintaining its nose direction. It may be evaluating stopping.

The evaluation criteria for horizontal flight may be whether the drone 200 moves without being separated within a range of 1 m on the left and right of the drone 200, and whether it stops accurately on each point. Here, the range that must not be separated is described as 1m, but it is not limited thereto.

Figure 7 is a diagram illustrating a triangular flight test course according to an embodiment of the present invention. Here, A, B, and D may each mean a mark.

Referring to FIG. 7, in the triangular flight, the drone 200 hovering above point A moves to point D, then moves back to point A to increase its altitude, moves to point B to decrease its altitude, and then moves to point A again. It may be evaluating moving to .

The evaluation standard for triangular flight may be whether the altitude is within a preset range when ascending and descending. For example, the preset range when moving to point A to increase the altitude may be 10.5 m to 12.5 m, and the preset range when moving to point B to lower the altitude may be 3 m to 5 m. In other words, it may be evaluated whether the altitude at each A point and B point is within a preset range.

Additionally, the evaluation standard for triangular flight may be whether the drone 200 moves at an angle of 45° when ascending or descending altitude. When the drone 200 rises or descends at an angle of 45° and stops at points A and B, the drone 200 may be located at an altitude within the preset range described above. Accordingly, the angle when rising or falling may be set as an evaluation standard.

Figure 8 is a diagram illustrating a circumferential flight test course according to an embodiment of the present invention. Here, A, B, C, D, and H may each mean a mark.

Referring to FIG. 8, circumferential flight changes the nose of the drone 200 to the right above point H, and while rotating the nose, the drone 200 sequentially passes over point D, point C, and point B back to point H. It could be evaluating what comes back.

The evaluation criteria for circumferential flight may be whether the drone 200 accurately passes over point D, point C, and point B, and the direction of the nose of the drone 200 at each point.

Figure 9 is a diagram illustrating an emergency approach and landing test course according to an embodiment of the present invention. Here, H and F may each mean a mark.

Referring to FIG. 9, emergency approach and landing may be performed by evaluating the drone 200 flying above point H, ascending vertically to a certain height, and then descending diagonally to point F.

The evaluation criteria for emergency approach and landing may be whether the drone 200 rose to a certain height above point H and whether it moved at a speed 1.5 times faster than the normal movement speed when moving to point F. Here, a speed that is 1.5 times faster than the normal moving speed may be preset, and it can be determined whether the speed when moving to point F is the preset speed.

Figure 10 is a diagram illustrating a normal approach and landing test course according to an embodiment of the present invention. Here, H and F may each mean a mark.

Referring to FIG. 10, normal approach and landing may be evaluated by taking off from point F with GPS turned off, moving horizontally to point H, landing at point H, turning on GPS, and then taking off again.

The evaluation criteria for normal approach and landing may be whether the aircraft took off after landing at point H and checking the GPS signal.

Figure 11 is a diagram illustrating a crosswind approach and landing test course according to an embodiment of the present invention. Here, A, B, C, D, and H may each mean a mark.

Referring to Figure 11, crosswind approach and landing is when the wind blows from point D to point B, move to point D with the nose directed to point C, and then return to point D with the nose turned to the right. It may be evaluated to move to and turn again so that the nose direction is toward point C.

An evaluation criterion for crosswind approach and landing may be whether the nose direction is correct at each point.

Referring again to FIG. 3, the evaluation device 100 can analyze the shape of the trajectory generated as the virtual drone moves in virtual space, and determine whether the result of analyzing the shape of the trajectory satisfies the evaluation items and evaluation criteria. can do. The specific method of determining whether the result of analyzing the shape of the trajectory satisfies the evaluation items and evaluation criteria will be explained in detail in FIGS. 12 to 17.

The evaluation device 100 may provide the results of the practical test based on the results of determining whether the result of analyzing the shape of the trajectory satisfies the evaluation items and evaluation criteria (S500).

For example, the evaluation device 100 may display whether the evaluation criteria are satisfied on a portion of the screen on which the virtual space is implemented, and whether the evaluation criteria are satisfied by overlapping the screen on which the virtual space is implemented. can also be displayed.

According to an embodiment of the present invention, the evaluation device 100 provides a virtual space, can display the trajectory of the virtual drone, and stores the movement of the virtual drone in the virtual space and the trajectory according to the movement of the virtual drone, It can provide objectivity to the test.

Additionally, the evaluation device 100 may change the direction of the virtual space according to the evaluator's input. For example, according to the evaluator's input, the direction of a virtual space showing one side as the front may be changed to display the other side at a specific angle from one side as the front. However, it is not limited to this, and it may also be possible to change the direction of the virtual space so that the direction viewed from above is the front, and it may also be possible to enlarge or reduce a portion of the virtual space.

Additionally, since unclear parts may occur in determining the trajectory of a virtual drone within a virtual space expressed in 3D, the evaluation device 100 may provide a baseline to assist in determining the trajectory. For example, in the case of circumferential flight, the trajectory may be generated at a certain height from the floor, but when viewed with the naked eye, it may be difficult to determine whether the virtual drone has passed exactly over the mark on the floor. Accordingly, it can serve to assist the evaluator in determining the trajectory of the virtual drone by displaying a reference line with a certain width from the position of the movement route or marker corresponding to the passing standard to the height where the trajectory is located. As the baseline is provided in the 3D virtual space, it can be applied even if the direction of the virtual space is changed, and the location, shape, and size of the baseline may all be different for each evaluation item.

Figure 12 is a diagram showing a method of evaluating practical test results based on the shape of the trajectory according to the first embodiment of the present invention.

Referring to FIG. 12, the evaluation device 100 may determine parameter values for the movement of the virtual drone based on the result of analyzing the shape of the trajectory (S510). Here, parameters may include distance, speed, angle, altitude, position, yaw, roll, pitch, etc. For example, when performing a horizontal flight test, the evaluation device 100 may analyze the trajectory to determine the distance the virtual drone has advanced and the distance it has moved backwards.

Meanwhile, in horizontal flight, altitude may not be an important evaluation item. Accordingly, it may also be possible to judge only the distance traveled by the virtual drone and not judge the height of the virtual drone.

The evaluation device 100 may compare the parameter value and the reference value (S511). For example, in the case of horizontal flight, an important evaluation criterion may be that the virtual drone stops exactly on each point. Accordingly, the evaluation device 100 may store the distance between each point as a reference value and compare the distance that the virtual drone moves from one point to another with the reference value. Here, the reference value may mean a specific value or a specific range having a certain error range from the reference value.

Meanwhile, the reference value in horizontal flight has been described as being set based on distance, but the reference value in other flights may be set based on altitude, speed angle, etc. Additionally, the reference value for each section in one flight test may also be different.

For example, in the case of triangular flight, the reference value when moving from point A to point D according to FIG. 7 may be the distance, and the reference value when moving back to point A while increasing altitude may be the angle, or the angle and distance or altitude It can be.

The evaluation device 100 may determine whether the parameter value is within the reference value range (S512).

If the parameter value is within the reference value range, the evaluation device 100 may determine that the evaluation standard is satisfied (S513), and if the parameter value is not within the reference value range, the evaluation device 100 may determine that the evaluation standard is not satisfied (S514).

FIG. 13 is a diagram showing a method of analyzing test results based on the shape of a trajectory according to a second embodiment of the present invention, and FIG. 14 is a diagram showing an example of setting a movable range according to an embodiment of the present invention. .

Referring to FIGS. 13 and 14 , the evaluation device 100 may set the movable range based on the mark according to the evaluation items and evaluation criteria (S520). For example, in the case of horizontal flight, it may be moving from point A to point E. Accordingly, the evaluation device 100 can set the movement route 40 from point A to point E, and set the movement route 40 to have an area 41 within a certain range. For example, the moving route 40 can be set as a straight line from point A to point E, and the range 41 of the moving route can be set to be 1 m left and right. Here, the possible movement range may include the movement route 40 and the range of the movement route 41.

The evaluation device 100 may determine whether the virtual drone has moved within the possible movement range based on the result of analyzing the shape of the trajectory (S521).

The evaluation device 100 may extract the part where the virtual drone moves from point A to point E from the trajectory and determine whether the extracted part exists within the range of movement.

The evaluation device 100 may determine that the evaluation standard is satisfied if the virtual drone moves within the movable range (S522), and if the virtual drone does not move within the movable range, it may be determined that the evaluation standard is not satisfied. Can be judged (S514).

FIG. 15 is a diagram showing a method of analyzing test results based on the shape of a trajectory according to a third embodiment of the present invention, and FIG. 16 is a diagram showing the degree of similarity between preset shapes of a trajectory according to an embodiment of the present invention. This is a drawing showing an example.

Referring to FIGS. 15 and 16 , the evaluation device 100 may compare the shape of the trajectory with a preset shape according to the evaluation item (S530). For example, in the case of a triangle flight, according to FIG. 7, the drone 200 moves from point A to point D, then moves back to point A so that the altitude increases, moves to point B so that the altitude decreases, and then moves again. By moving to point A, the drone 200 can fly in a triangular trajectory.

Accordingly, the evaluation device 100 may store the triangle as a preset shape in the triangular flight, and as the length to each point and the altitude at each point are determined, the length and angle of each side of the triangle are also determined. It can have a set value.

In addition, in the case of circumferential flight, according to FIG. 8, the drone 200 returns to point H by sequentially passing from point H to point D, point C, and point B, and the drone 200 follows a circular trajectory. can fly

Accordingly, the evaluation device 100 may store the circular shape as a preset shape in circumferential flight, and the size of the circular shape (for example, circumference length) is determined as the length to each point and the size of the mark are determined. It may also have a preset value.

Meanwhile, only circumferential flight and triangular flight have been described, but the present invention is not limited thereto, and the evaluation device 100 may store a preset shape for each evaluation item.

The evaluation device 100 may extract a shape from the trajectory of the drone 100 flown according to the evaluation item and compare it with a preset shape according to the evaluation item. For example, the evaluation device 100 may acquire a trajectory (T) of a circular shape formed as the virtual drone in the virtual space 10 flies along the mark (M), and the obtained trajectory (T) and the circular shape may be obtained. You can compare preset shapes depending on the flight.

The evaluation device 100 can calculate the similarity between the shape of the trajectory and a preset shape (S531). The evaluation device 100 may calculate the degree of similarity by comparing the size, length, and angle of a preset shape with the size, length, and angle of the trajectory T.

For example, the evaluation device 100 may score the degree of similarity for each item such as size, length, and angle between the trajectory T and a preset shape, and calculate the degree of similarity by calculating the sum or average of the scores. . Additionally, the evaluation device 100 may store a score according to the difference between the preset shape and the shape of the trajectory T for each item, and may calculate the degree of similarity by extracting a score according to the difference. Additionally, different weights can be set for each item, and similarity can be calculated by reflecting the weights. However, the method for calculating similarity is not limited to this.

The evaluation device 100 may determine whether the calculated similarity is greater than or equal to a preset value (S532). The evaluation device 100 may store a similarity value that can pass the test as a preset value, and may determine whether the calculated similarity is greater than or equal to the preset value.

The evaluation device 100 may determine that the evaluation standard is satisfied if the calculated similarity is greater than or equal to a preset value (S533), and may determine that the evaluation standard is not satisfied if the calculated similarity is less than the preset value (S534). .

As described above, according to an embodiment of the present invention, the location and direction of the drone are measured using RTK GPS (Real Time Kinematic GPS), and the trajectory is displayed in a virtual space that represents the drone practical test location according to the movement of the drone. Thus, it is possible to realize a VR-based drone practical test evaluation method and system using RTK GPS to evaluate the results of the practical test.

Above, embodiments of the present invention have been described with reference to the attached drawings, but those skilled in the art will understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features. You will be able to understand it. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive.

100: evaluation device
200: Drone
300: RTK GPS module

Claims (10)

In a method performed by a computing device,
Obtaining information about the drone practical test location;
Implementing the practical test location in 3D based on information about the practical test location;
Obtaining location information and direction information of the drone from a Real Time Kinematic GPS (RTK GPS) module mounted on the drone; and
Based on the acquired location information and direction information of the drone, implementing a virtual drone in the same location as the drone in a 3D virtual space; VR-based drone practical test evaluation method using RTK GPS including; .
According to paragraph 1,
The step of obtaining information about the drone practical test location is,
It further includes; obtaining information about the location, size, and location of the drone practical test site and the location, shape, and size of the markings placed for evaluation of the practical test,
The step of acquiring location information and direction information of the drone is,
Obtaining values for the latitude, longitude, and altitude of the drone; and
A VR-based drone practical test evaluation method using RTK GPS, further comprising: acquiring values for yaw, roll, and pitch of the drone.
According to paragraph 1,
The step of implementing the virtual drone is,
Controlling the virtual drone to move in the same manner as the drone in the virtual space based on the location information and the direction information;
Displaying a trajectory according to the movement of the virtual drone; and
A VR-based drone practical test evaluation method using RTK GPS, further comprising the step of analyzing the trajectory and evaluating the results of the practical test.
According to paragraph 3,
The step of evaluating the results of the practical test is,
Obtaining evaluation items and evaluation criteria for the practical test;
analyzing the shape of the trajectory; and
A VR-based drone practical test evaluation method using RTK GPS, including the step of determining whether the result of analyzing the shape of the trajectory satisfies the evaluation items and evaluation criteria.
According to clause 4,
The step of determining whether the above evaluation items and evaluation criteria are satisfied is,
determining parameter values for movement of the virtual drone based on a result of analyzing the shape of the trajectory;
Comparing the parameter value to a reference value;
determining that the evaluation criteria are satisfied when the parameter value is within a reference value range; and
A VR-based drone practical test evaluation method using RTK GPS, including providing whether the evaluation criteria are satisfied.
According to clause 4,
The step of determining whether the above evaluation items and evaluation criteria are satisfied is,
Setting a movable range based on the mark according to the evaluation items and evaluation criteria of the practical test;
determining whether the virtual drone has moved within the possible movement range based on a result of analyzing the shape of the trajectory;
determining that the virtual drone satisfies evaluation criteria when it moves within the possible movement range; and
A VR-based drone practical test evaluation method using RTK GPS, including providing whether the evaluation criteria are satisfied.
According to clause 4,
The step of determining whether the above evaluation items and evaluation criteria are satisfied is,
Comparing the shape of the trajectory with a preset shape according to evaluation items;
calculating a degree of similarity between the shape of the trajectory and the preset shape;
If the calculated similarity is greater than or equal to a preset value, determining that the evaluation criteria for the evaluation item are satisfied; and
A VR-based drone practical test evaluation method using RTK GPS, including providing whether the evaluation criteria are satisfied.
Drones that operate according to the tester's operations;
An RTK GPS (Real Time Kinematic GPS) module mounted on the drone to measure the location and direction of the drone; and
Obtain location information and direction information of the drone from the RTK GPS module, and based on the location information and direction information, place a virtual drone in the same location as the drone in a virtual space that represents the drone practical test site in 3D. A VR-based drone practical test evaluation system using RTK GPS that includes an evaluation device that implements.
A memory that stores one or more instructions; and
A processor executing the one or more instructions stored in the memory,
The processor executes the one or more instructions,
An apparatus for performing the method of claim 1.
A computer program combined with a computer as hardware and stored on a computer-readable recording medium so as to perform the method of claim 1.