WO2022034951A1 - Target observation and location-estimation apparatus, and self-destructing unmanned air vehicle operating system comprising same - Google Patents

Abstract

The present invention relates to a target observation and location-estimation apparatus and a self-destructing unmanned air vehicle operating system comprising same, and according to the present invention, the location of a target can be estimated by using a method that uses a moving baseline to measure azimuth and elevation, and that uses a laser range finder (LRF) to measure the distance to the target, and then uses the measured values to inversely estimate three-dimensional coordinates.

Description

Target observation and location estimation device and self-destruct UAV operating system including the same

The present invention relates to a target observation and location estimation apparatus and a self-destruct UAV operating system including the same.

This application claims the benefit of priority based on Korean Patent Application No. 10-2020-0101621 dated August 13, 2020, and all contents disclosed in the literature of the Korean patent application are incorporated as a part of this specification.

Since the upper part of the main attack target of self-destruct UAVs such as tactical vehicles or armored vehicles is relatively more vulnerable to attack than the side part, many missiles or self-destruct UAVs are developed with the aim of upper attack, but multicopter or helicopter type UAVs have high speed. It is difficult to fly downwards, so it is difficult to attack the upper part of the enemy at high speed. Therefore, there are restrictions on its use as a self-destruct UAV, and there is a limit to its use as a self-destruct UAV.

Meanwhile, in order to transmit the location of the target to the self-destruct UAV, it is necessary to search for the target and accurately estimate the location.

In recent years, as the number of operations using UAVs has increased in the military, the demand for acquiring accurate global coordinates of targets for operating UAVs has increased. However, the existing targeting equipment for missiles uses a laser target indicator to continuously designate a location or TADS (Target Acquisition & Designation System) to search for a target and then estimate its relative position with the target. that was all

The present invention estimates the location of a target by measuring the azimuth and elevation using a moving baseline of a GPS system using two GPS antennas and measuring the distance to the target using a laser rangefinder (LRF). It is a task to be solved to provide a device for estimating the position of a target and a self-destruct UAV operating system including the same.

In addition, an object of the present invention is to provide an unmanned aerial vehicle capable of performing a high-speed descending attack that the conventional rotorcraft could not do by controlling the aircraft in the direction of gravity, and a self-destructive unmanned aerial vehicle operating system including the same.

In addition, the present invention is to provide a self-destruct UAV operating system capable of estimating the target's location information, transmitting the location information and the mission start command to the unmanned aerial vehicle, and performing strike-guided flight with the unmanned aerial vehicle. do.

In order to solve the above problems, according to an aspect of the present invention, a distance measuring device for measuring a distance (D) with a target, a GPS module provided to measure a north reference azimuth (Ψ) and an elevation (θ) of the target, Based on the north reference azimuth (Ψ) and elevation (θ) of the target measured by the GPS module, the target location information including latitude, longitude, and altitude of the target is calculated, and the target There is provided an apparatus for observing and estimating a target including an observation control unit provided to transmit distance to and location information of the target to an external device, and a display unit provided to display image information and location information of the target.

In addition, the GPS module includes a first GPS antenna and a second GPS antenna positioned apart from the first GPS antenna by a predetermined distance (d).

In addition, the GPS module is provided to measure a north reference azimuth (?) and an elevation (θ) of the target based on the relative positions of the first and second GPS antennas.

In addition, according to another aspect of the present invention, there is provided a firearm having the above target observation and localization device.

In addition, according to another aspect of the present invention, there is provided a method for controlling the apparatus for observing and estimating the target, comprising: measuring the position of the target with a first GPS antenna; measuring the position of the target with a second GPS antenna; Based on the north reference azimuth (Ψ) and elevation (θ) of the target measured using the positions of the 1 GPS antenna and the second GPS antenna, respectively, and the distance (D) to the target measured by the range finder, the target's latitude ( latitude), longitude (longitude), and the step of calculating the position information of the target including the altitude (altitude), the control method of the target observation and position estimation apparatus is provided.

In addition, according to another aspect of the present invention, there is provided a self-destruct unmanned aerial vehicle operating system including the target observation and location estimation device provided to provide the unmanned aerial vehicle and the location information of the target to the unmanned aerial vehicle. Here, the apparatus for observing and estimating the target is a distance measuring device for measuring a distance D from the target, a GPS module provided to measure a north reference azimuth (Ψ) and an elevation angle (θ) of the target, and a target measured by the GPS module Based on the north reference azimuth (Ψ) and elevation (θ) of It includes a flight control unit provided to transmit location information to the unmanned aerial vehicle, and a display unit provided to display image information and location information of the target. In addition, the GPS module includes a first GPS antenna and a second GPS antenna positioned a predetermined distance (d) apart from the first GPS antenna, and the GPS module is configured to: It is provided to measure the north reference azimuth (Ψ) and elevation (θ).

In addition, according to another aspect of the present invention, a plurality of rotors rotatable in forward and reverse directions, and a flight control unit configured to control the rotor, and receive an operation command from an external device, each rotor, the airfoil left and right An unmanned aerial vehicle comprising a plurality of blades having a symmetrical shape is provided.

In addition, according to another aspect of the present invention, there is provided a self-destruct UAV operating system including a target observation and location estimation device for transmitting the location information and operation command of the target to the unmanned aerial vehicle and the unmanned aerial vehicle.

Here, the unmanned aerial vehicle includes a plurality of rotors rotatable in forward and reverse directions and a flight control unit provided to control the rotor and receive an operation command from an external device, and each rotor has a plurality of airfoils having a left-right symmetrical shape. It includes four blades. In addition, the apparatus for observing and estimating the target is a distance measuring device for measuring a distance (D) from the target, a GPS module provided to measure a north reference azimuth (Ψ) and an elevation angle (θ) of the target, and a target measured by the GPS module Based on the north reference azimuth (Ψ) and elevation (θ) of It includes an observation control unit provided to transmit location information to the unmanned aerial vehicle, and a display unit provided to display image information and location information of the target. In addition, the GPS module includes a first GPS antenna and a second GPS antenna positioned a predetermined distance (d) apart from the first GPS antenna, and the GPS module is configured to: It is provided to measure the north reference azimuth (Ψ) and elevation (θ).

As described above, the target observation and location estimation apparatus related to at least one embodiment of the present invention related to at least one embodiment of the present invention, the unmanned aerial vehicle, and the self-destructive unmanned aerial vehicle operating system including the same have the following effects.

The target observation and location estimation device measures azimuth and elevation or azimuth and roll using two GPS antennas when a target is specified using an EO camera and/or an IR camera. A method of measuring the azimuth and elevation angle using the moving baseline of the GPS system, measuring the distance to the target using a laser rangefinder (LRF), It can be used to estimate the location of the target.

In addition, by rotating the propeller of the rotor in the reverse direction, the unmanned aerial vehicle overcomes gravity and descends vertically to the target at high speed and can be guided precisely.

In particular, unlike the conventional rotorcraft, vortexing does not occur by reversing the rotational direction of the rotor during a vertical descending attack, and the unmanned aerial vehicle accelerates in the descending direction rather than in free fall. Because it controls the posture and position by using the thrust in the downward direction, a very precise strike is possible.

1 is a perspective view of an apparatus for observing and estimating a target according to an embodiment of the present invention.

Figure 2 is a perspective view showing a state in which the target observation and location estimation device related to an embodiment of the present invention is provided in the rifle.

3 is a conceptual diagram for explaining a method of measuring a target observation and location estimation apparatus related to an embodiment of the present invention.

4 is a conceptual diagram for explaining an operating state of a self-destruct UAV operating system related to an embodiment of the present invention.

5 is a flowchart for explaining a method of operating a self-destruct UAV operating system related to an embodiment of the present invention.

6 is a perspective view illustrating an unmanned aerial vehicle according to an embodiment of the present invention.

7 is a conceptual diagram for explaining an operating state of an unmanned aerial vehicle related to an embodiment of the present invention.

8 is a perspective view illustrating a rotor of the unmanned aerial vehicle shown in FIG. 6 .

Fig. 9 is a side view of the blade shown in Fig. 8;

FIG. 10 is a cross-sectional view taken along the line A-A' shown in FIG. 8 .

Hereinafter, a target observation and location estimation apparatus, an unmanned aerial vehicle, and a self-destruct UAV operating system including the same according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

In addition, regardless of the reference numerals, the same or corresponding components are given the same or similar reference numbers, and duplicate descriptions thereof will be omitted, and the size and shape of each component shown for convenience of explanation is exaggerated or reduced. can be

Figure 1 is a perspective view of a target observation and location estimation apparatus 100 related to an embodiment of the present invention, Figure 2 is a target observation and location estimation apparatus 100' related to an embodiment of the present invention is provided in a rifle It is a perspective view showing the state.

In addition, FIG. 3 is a conceptual diagram for explaining a method for measuring a position of the target observation and position estimation apparatus 100 related to an embodiment of the present invention, and FIG. 4 is a self-destruct UAV operating system related to an embodiment of the present invention. It is a conceptual diagram for explaining the operating state.

An embodiment of the present invention includes a target observation and location estimation apparatus 100 and a self-destruct UAV operating system including the same.

In the present invention, the target observation and location estimation apparatus (hereinafter also referred to as 'TADS') is provided to measure and calculate the location information of the target, and transmit the location information of the target to an external device. In addition, the external device includes an unmanned aerial vehicle (hereinafter, also referred to as a 'drone').

In addition, the self-destruct UAV operating system includes the target observation and location estimation apparatus 100 and the unmanned aerial vehicle 200 . The distance measurer 140 includes a laser distance measurer.

1 to 4 , the target observation and location estimation apparatus 100 according to an embodiment of the present invention includes a range finder 140 , a GPS module 120 , an observation control unit, and a display unit 150 . .

Specifically, the target observation and location estimation apparatus 100 includes a distance measurer 140 for measuring a distance D from the target T. In addition, the distance finder includes a laser distance finder 140 .

In addition, the target observation and location estimation apparatus 100 includes a GPS module 120 provided to measure the north reference azimuth (Ψ) and elevation (θ) of the target. In this document, the GPS module is configured in a manner of measuring azimuth and elevation using a moving baseline, and may be referred to as a moving baseline GPS.

That is, the target observation and location estimation device 100 places two GPS antennas separated by a predetermined distance on the device and calculates the location and angle of the location estimation device using the difference between the two different GPS data. Use the moving base line method.

In addition, the target observation and location estimation apparatus 100 is based on the north reference azimuth (Ψ) and the elevation angle (θ) of the target (T) measured by the GPS module 120, the latitude (latitude) of the target (T), and an observation control unit configured to calculate location information of the target including longitude and altitude, and transmit the distance to the target and location information of the target to an external device.

In addition, the target observation and location estimation apparatus 100 may include a display unit 150 provided to display image information and location information of the target. The display unit 150 may be a scope used in general observation equipment.

Meanwhile, the GPS module 120 includes a first GPS antenna 121 and a second GPS antenna 122 positioned apart from the first GPS antenna 121 by a predetermined distance d.

The observation control unit, based on the north reference azimuth Ψ and the elevation angle θ of the target T measured by the first GPS antenna 121 and the second GPS antenna 122, the first GPS antenna 121 And the second GPS antenna 122 calculates the latitude, longitude, and altitude of each target T. In addition, the observation control unit based on the relative positions (eg, elevation difference) of the first and second GPS antennas 121 and 122, latitude, longitude, and altitude of the target T ) to calculate the position information of the target including

In addition, the GPS module 120 is provided to measure a north reference azimuth (?) and an elevation (θ) of the target based on the relative positions of the first and second GPS antennas 121 and 122 .

The target position information can be calculated through the following general formulas 1 to 8.

[General formula 1]

lat_coefficient = 111132.95 - 559.822 x cos(2 x lat) + 1.175 x cos(4 x lat)

[General formula 2]

lon_coefficient = 111412.88 x cos(lat) - 93.5 x cos(3 x lat) + 0.12 x cos(5 x lat)

[General Formula 3]

DistN = LRF_dist x cos(pitch) x cos(MBheading)

[General formula 4]

DistE = LRF_dist x cos(pitch) x sin(MBheading)

[General formula 5]

deltaH = LRF_dist x sin(pitch)

[General formula 6]

TargetLat = DistN / lat_coefficient + lat

[General formula 7]

TargetLon = DistE / lon_coefficient + lon

[General formula 8]

TargetAlt = deltaH + height

Meanwhile, in the apparatus 100 for observing and estimating the target, the first GPS antenna 121 is an antenna having a relatively short distance from the target T, and is located at a relatively far side from the target T. The antenna is the second GPS antenna 121 .

In addition, the first GPS antenna 121 and the second GPS antenna 122 may be coaxially disposed with respect to an imaginary axis parallel to the laser irradiation axis of the laser rangefinder 140 .

In Formulas 1 to 8, lat represents the latitude measured by the second GPS antenna 122 in the target observation and location estimation apparatus 100 (hereinafter, referred to as 'TADS'), and lon is It represents the longitude measured by the second GPS antenna 122 of the TADS.

In addition, the pitch represents the pitch angle of the TADS 100 , and the pitch angle is the elevation angle θ, which is determined by the difference in elevation between the first GPS antenna 121 and the second GPS antenna 122 .

In addition, MBheading is a moving base heading, and represents a north reference azimuth (Ψ). As described above, the azimuth of the virtual axis connecting the first GPS antenna 121 and the second GPS antenna 122 is the moving base heading in [General Expressions 3] and [General Expressions 4], It is determined by the north reference azimuth (Ψ).

In addition, lat_coefficient represents the distance value (unit: m) per latitude that reflects the curvature of the earth according to latitude, and lon_coefficient is the distance value per degree of longitude that reflects the curvature of the earth according to latitude (unit: m) is shown.

In addition, DistN represents the North reference distance difference (unit: m) from the target to the TADS 100, and DistE is the East reference distance difference (unit: m) from the target to the TADS 100 : m), and deltaH represents the height difference (unit: m) between the TADS 100 at the target.

In addition, TargetLat indicates the latitude (unit: degree) of the target, TargetLon indicates the longitude (unit: degree) of the target, TargetAlt indicates the altitude (unit: m) of the target, LRF_dist indicates the laser It represents a distance value (unit: m) with the target measured by the distance measurer 140 .

In addition, the observation control unit may be provided to transmit an operation command of the external device when transmitting the distance D from the target T and the position information of the target to the external device. In this case, the external device may include an unmanned aerial vehicle, and the operation command may include a movement command of the unmanned aerial vehicle toward the target based on the transmitted location information.

In addition, the target observation and location estimation apparatus 100 may further include an inertial navigation apparatus 110 for updating location information. By combining the position and velocity information of the target measured using the GPS module 120 and the attitude and velocity information of the inertial navigation device 100 using a Kalman filter to derive the position, the update rate of the position information can be increased. can

In addition, the target observation and localization apparatus 100 may further include at least one of an EO (electro-optical) camera and an IR (infrared) camera 130 for selecting a target.

Meanwhile, referring to FIG. 1 , the target observation and location estimation apparatus 100 may include a base unit 101 on which a first GPS antenna 121 and a second GPS antenna 122 are mounted at a predetermined distance apart. . In addition, the base 101 may have a shape extending along an imaginary axis parallel to the laser irradiation axis of the laser distance measurer 140 . In this case, the inertial navigation device 110 may be mounted on the base unit 101 between the first GPS antenna 121 and the second GPS antenna 122 . One or more of the EO camera and the IR camera 130 may be mounted on the inertial navigation device 101 .

Also, referring to FIG. 2 , according to another embodiment of the present invention, a firearm 150 having a target observation and location estimation apparatus 100 ′ may be included. In the present embodiment, the target observation and location estimation apparatus 100' includes the first and second GPS antennas 121 and 122, the inertial navigation device 110, except for the base portion 101 shown in FIG. It may include an EO/IR camera 130 , a laser rangefinder 140 , and a display unit 150 .

A method of controlling the target observation and location estimation apparatus having the structure as described above is as follows.

Referring to FIG. 3 , the method of controlling the apparatus for observing and estimating a target according to an embodiment of the present invention includes measuring a position of a target with a first GPS antenna 121 , and measuring a position of a target with a second GPS antenna 122 . measuring the position, and the north reference azimuth (Ψ) and elevation angle (θ) of the target measured using the positions of the first GPS antenna 121 and the second GPS antenna 122, respectively, and the distance measured by the range finder and calculating location information of the target including latitude, longitude, and altitude of the target based on the distance D from the target.

In addition, referring to FIG. 3 , for a method of controlling the target observation and location estimation apparatus, referring to FIG. 120) measuring the north reference azimuth angle (Heading angle, Ψ) between the location estimation device 100 and the target T, referring to FIG. 3(c), using the Moving baseline GPS 120 Measuring the ground surface reference pitch angle (θ) between the location estimation device 100 and the target (T), and GPS information and distance (D) of the location estimation device 100, the north reference azimuth (Heading angle, Ψ), and measuring the latitude, longitude, and altitude of the target T by using the pitch angle (θ) based on the ground surface (General Formulas 1 to 8).

In addition, referring to FIG. 4 , the self-destruct unmanned aerial vehicle operating system related to an embodiment of the present invention includes an unmanned aerial vehicle 200 and a target observation and location estimation apparatus 100 provided to provide location information of the target to the unmanned aerial vehicle. .

As described through FIGS. 1 and 3, the target observation and location estimation apparatus includes a distance finder 140 for measuring a distance D with a target, a reference azimuth (Ψ) and an elevation angle (Ψ) of the north of the target (T) Based on the GPS module 120 provided to measure θ, the north reference azimuth (Ψ) and the elevation angle (θ) of the target measured by the GPS module 120, latitude, longitude, and altitude of the target (altitude), including a flight control unit provided to calculate the target's location information and to transmit the distance to the target and the target's location information to the unmanned aerial vehicle, and a display unit 150 provided to display image information and location information of the target do.

In addition, the GPS module 120 includes a first GPS antenna 121 and a second GPS antenna 122 positioned at a predetermined distance (d) apart from the first GPS antenna 121, and the GPS module 120 includes: Based on the relative positions of the first and second GPS antennas 121 and 122, it is provided to measure a reference azimuth angle ? and an elevation angle ? of the target.

As described above, the observation control unit of the target observation and location estimation apparatus 100 is provided to transmit an operation command of the unmanned aerial vehicle when transmitting the distance D from the target T and the position information of the target to the unmanned aerial vehicle. can The operation command may include a movement command of the unmanned aerial vehicle 200 toward the target based on the transmitted location information.

When an operation command is transmitted from the target observation and location estimation apparatus 100 , the unmanned aerial vehicle takes off, approaches and strikes the target location.

The control method of the self-destruct unmanned aerial vehicle operating system includes the steps of taking off the unmanned aerial vehicle 100 at an altitude higher than the relative position with the target T received from the location estimation device 100, TADS, to the position of the target received from the TADS 100 When the unmanned aerial vehicle 100 approaches while maintaining a certain altitude, and when the distance between the target T and the unmanned aerial vehicle enters within a predetermined range, the rotor of the unmanned aerial vehicle is reversely rotated to fly toward the target in a reverse propulsion manner, the position performing control.

5 is a flowchart for explaining an operating method of a self-destruct UAV operating system related to an embodiment of the present invention, FIG. 6 is a perspective view showing an unmanned aerial vehicle 200 related to an embodiment of the present invention, and FIG. 7 is It is a conceptual diagram for explaining an operating state of the unmanned aerial vehicle 200 related to an embodiment of the present invention.

In addition, FIG. 8 is a perspective view showing the rotor 210 of the unmanned aerial vehicle shown in FIG. 6 , FIG. 9 is a side view of the blade shown in FIG. 8 , and FIG. 10 is a line A-A' shown in FIG. It is a cross-sectional view of the cut-out state.

The unmanned aerial vehicle 200 related to an embodiment of the present invention controls a plurality of rotors 210 rotatable in forward and reverse directions and the rotor 210 , and a flight controller provided to receive an operation command from the external device 100 . (202). In this document, the unmanned aerial vehicle 200 may be operated as a self-destruct unmanned aerial vehicle.

The unmanned aerial vehicle 200 includes a main body 201 and a plurality of support members 202 respectively extending along the radial direction of the main body and arranged apart along the circumferential direction of the main body.

The rotor 210 is provided at the end of the support member 202 . For example, the number of support members 202 may be the same as the number of rotors 210 .

Referring to FIG. 10 , each rotor 210 includes a plurality of blades 211 in which the airfoil has a left-right symmetric shape.

The number of the plurality of rotors 210 is 2 to 8, and preferably, the number of the plurality of rotors may be 3 to 4, respectively.

The rotor 210 may include two to four blades, and preferably, referring to FIG. 8 , the rotor may include two blades 211 and 212 .

The rotor 210 includes a body 211 having a driving source for rotating the blades, and unexplained reference numeral C denotes the rotational axis of the blades 21 and 212 .

The blade 211 has a fixed end 211a mounted on the body 211 of the rotor 210 and a free end 211b opposite to the fixed end 211a. In this document, a direction from the fixed end 211a to the free end 211b of the blade may be referred to as a longitudinal direction. In this case, the blade 211 may have a left-right symmetrical shape of an airfoil of the entire area along the longitudinal direction.

In the case of a general drone propeller, the shape of the airfoil (blade cross section) is asymmetrically formed for unidirectional rotation, that is, forward rotation. The entire blade has a twisted shape in the forward direction.

As a result, in the sequence of falling from the target position, the existing forward propeller is rotated in the reverse direction to generate turbulence and vortex in the fall acceleration propulsion, so there is a problem in efficiency and stability.

In order to solve the above problem, the present invention provides a propeller having a shape that can produce the same thrust stability and efficiency not only in the forward direction but also in the reverse rotation situation, that is, the shape of the airfoil of the blade is symmetrical for bidirectional rotation. do.

In addition, referring to FIG. 8 , the blade 211 is designed to have a symmetrical structure in order to secure optimal thrust in both directions during forward and reverse rotation. It is designed in the shape of a sage leaf with a relatively wide root and a narrow tip.

In this document, referring to FIG. 7A , when the rotor rotates in the forward direction, the unmanned aerial vehicle 200 may take off and fly to the target T position and perform an approaching operation. Alternatively, referring to FIG. 7 (b), when the rotor rotates in the reverse direction, the unmanned aerial vehicle 200 descends to the target T along the direction of gravity and strikes the target T. there is.

In addition, the unmanned aerial vehicle 200 may include one or more ammunition 230 .

That is, when the flight control unit 220 receives the target location information from an external device (target observation and location estimation device), it rotates the rotor 210 in the forward direction to move toward the target (take off and approach), and When approaching the position, it is provided to rotate the rotor 210 in the reverse direction.

In addition, the flight controller 220 may control the flight to be made in the upper part of the target at the received position.

In addition, the flight control unit 220, in the received position, when the distance to the target is less than a predetermined distance, it may be provided to rotate the rotor 210 in the reverse direction.

In addition, the self-destruct UAV operating system related to an embodiment of the present invention is a target observation and location estimation device for transmitting the target location information and operation command to the unmanned aerial vehicle 200 and the unmanned aerial vehicle 200 described with reference to FIG. 6 . includes

The target observation and location estimation apparatus 100 is the same as described with reference to FIG. 1 . Specifically, the target observation and location estimation device 100 includes a target observation and location estimation device, a distance measuring device 140 for measuring a distance D with a target, a north reference azimuth (Ψ) and an elevation angle (θ) of the target ) based on the GPS module 120, the North reference azimuth (Ψ) and the elevation (θ) of the target measured in the GPS module 120, the target's latitude, longitude and altitude ( altitude), an observation control unit provided to calculate the target's location information, including the distance to the target, and the target's location information to the unmanned aerial vehicle, and a display unit 150 provided to display image information and location information of the target .

In addition, as described above, the GPS module 120 includes a first GPS antenna 121 and a second GPS antenna 122 positioned apart from the first GPS antenna 121 by a predetermined distance d. In addition, the GPS module 120 is provided to measure a north reference azimuth (?) and an elevation (θ) of the target based on the relative positions of the first and second GPS antennas.

In addition, the control method of the self-destruct UAV operating system is as follows.

The control method includes the steps of measuring and calculating the position information of the target in the position estimation device 100 , and transmitting the position information and the operation command of the target to the unmanned aerial vehicle 100 , and according to the operation command from the unmanned aerial vehicle 100 . It includes the steps of performing a task.

Specifically, the control method includes, in the position estimation apparatus 100, measuring a distance value ( ) from the target, a north reference azimuth (Heading angle, Ψ), and a pitch angle (θ) (S101), the measured The step of calculating the latitude, longitude, and altitude (Latitude, Longitude, Altitude) of the target using , Ψ, θ (S102), sending the calculated latitude, longitude, and altitude information to the unmanned aerial vehicle It may include transmitting steps (S103, S104).

In addition, the control method includes, in the unmanned aerial vehicle 200, receiving latitude, longitude, and altitude information of the target received from the TADS 100 (S201), and receiving a mission start command from the TADS 100 (S202). include At this time, in a state in which the mission start command is not received, the safe mode state is maintained (S204).

In addition, when the mission start command is received, the step of taking off in place from the position where the mission start command is received (S203), the step of taking off at a height above a predetermined height (eg, 150m) above the ground (S205), the target position Step (S206) of starting the flight with the target, the step of approaching within a predetermined distance (eg, 3m) (S207), the step of confirming the stationary flight status of the unmanned aerial vehicle (S208), and reverse propelling of the rotor of the unmanned aerial vehicle to the target position It includes a step (S209) of starting a precision strike guided flight through progress and position, speed, and posture control.

The preferred embodiments of the present invention described above are disclosed for the purpose of illustration, and various modifications, changes, and additions may be made by those skilled in the art having ordinary knowledge of the present invention within the spirit and scope of the present invention, and such modifications, changes and additions shall be deemed to fall within the scope of the following claims.

As described above, the target observation and location estimation apparatus and the self-destruct UAV operating system including the same according to at least one embodiment of the present invention have the following effects.

The target observation and location estimation device measures azimuth and elevation or azimuth and roll using two GPS antennas when a target is specified using an EO camera and/or an IR camera. A method of measuring the azimuth and elevation angle using the moving baseline of the GPS system, measuring the distance to the target using a laser rangefinder (LRF), It can be used to estimate the location of the target.

Claims (10)

1. a range finder for measuring the distance (D) to the target;

   a GPS module provided to measure the north reference azimuth (Ψ) and elevation (θ) of the target;

   Based on the north reference azimuth (Ψ) and elevation (θ) of the target measured by the GPS module, the target location information including latitude, longitude, and altitude of the target is calculated, and the target an observation control unit provided to transmit distance to and location information of the target to an external device; and

   It includes a display unit provided to display the image information and location information of the target,

   The GPS module includes a first GPS antenna and a second GPS antenna positioned a predetermined distance (d) apart from the first GPS antenna,

   The GPS module is a device for observing and estimating a target, provided to measure a north reference azimuth (?) and an elevation (θ) of the target based on the relative positions of the first and second GPS antennas.
2. The method of claim 1,

   The rangefinder includes a laser rangefinder,

   The first GPS antenna and the second GPS antenna are disposed coaxially with respect to an imaginary axis parallel to the laser irradiation axis of the laser range finder, the target observation and localization apparatus.
3. The method of claim 1,

   When the observation control unit transmits the distance to the target and the location information of the target to the external device, the target observation and location estimation device is provided to transmit an operation command of the external device.
4. 4. The method of claim 3,

   External devices include unmanned aerial vehicles;

   The operation command includes a command to move the unmanned aerial vehicle toward the target based on the transmitted location information.
5. The method of claim 1,

   A target observation and location estimation device, further comprising an inertial navigation device for updating location information.
6. 6. The method of claim 5,

   A target observation and localization device, further comprising at least one of an EO camera and an IR camera for selecting a target.
7. 7. The method of claim 6,

   The first GPS antenna and the second GPS antenna further include a base part mounted at a predetermined interval,

   The inertial navigation device is mounted on the base portion between the first GPS antenna and the second GPS antenna,

   wherein at least one of the EO camera and the IR camera is mounted to the inertial navigation device.
8. A firearm having the target observation and localization device according to claim 1 .
9. A method of controlling the target observation and location estimation apparatus according to claim 1,

   measuring a position of a target with a first GPS antenna;

   measuring the position of the target with a second GPS antenna;

   Based on the north reference azimuth (Ψ) and elevation (θ) of the target measured using the positions of the first GPS antenna and the second GPS antenna, respectively, and the distance (D) to the target measured by the range finder, the target's latitude A method of controlling an apparatus for observing and estimating a target, comprising the step of calculating location information of the target including (latitude), longitude (longitude) and altitude (altitude).
10. unmanned aerial vehicles; and

    It includes a target observation and location estimation device provided to provide the location information of the target to the unmanned aerial vehicle,

    The apparatus for observing and estimating a target includes: a distance measuring device for measuring a distance D with a target;

    a GPS module provided to measure the north reference azimuth (Ψ) and elevation (θ) of the target;

    Based on the north reference azimuth (Ψ) and elevation (θ) of the target measured by the GPS module, the target location information including latitude, longitude, and altitude of the target is calculated, and the target a flight controller provided to transmit distance to and location information of the target to the unmanned aerial vehicle; and

    It includes a display unit provided to display the image information and location information of the target,

    The GPS module includes a first GPS antenna and a second GPS antenna positioned a predetermined distance (d) apart from the first GPS antenna,

    The GPS module is a self-destruct UAV operating system that is provided to measure a north reference azimuth (Ψ) and an elevation (θ) of the target based on the relative positions of the first and second GPS antennas.

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