KR101897238B1 - A device for positioning and tracking control based RF of multi unnamed aerial vehicle - Google Patents

Abstract

The present invention relates to an apparatus and a system for positioning and trajectory control of an RF-based multiple unmanned aerial vehicle, and more particularly, to an apparatus and system for positioning and trajectory control of an RF-based multiuniverse vehicle including a driving unit including a plurality of propellers, a receiving unit receiving distance information from a plurality of anchor nodes emitting RF signals, A controller for controlling the driving unit based on the predetermined target position and the predetermined trajectory, a controller for controlling the driving unit based on the predetermined target position and the trajectory, Wherein the position controller includes a velocity controller for controlling a velocity of the anchor node, and the position controller provides an unmanned aerial vehicle that determines the position using the positioning method based on the distance from the plurality of anchor nodes, It has the advantage of providing multiple unmanned aerial vehicles and their systems.

Description

[0001] The present invention relates to an apparatus and a system for positioning and trajectory control of an RF-based multiple unmanned aerial vehicle,

The present invention relates to an apparatus and a system for positioning and trajectory control of an RF-based multiple unmanned aerial vehicle.

As the IT technology and the light weight technology for the body of the aviation have developed, the research on Drone which is a small unmanned aerial vehicle (UAV) which does not need human control is actively being studied.

The small unmanned aerial vehicle that appeared in the early 20th century was originally developed as a military unmanned aerial vehicle. Even today, small unmanned aerial vehicles are mainly used for military purposes. Recently, small unmanned aerial vehicles have been used in various fields such as industrial, leisure, broadcasting, and delivery.

In addition, small unmanned aerial vehicles are characterized by their ability to move freely due to their small size, and various studies are underway for their use.

However, the positioning of conventional unmanned aerial vehicles is being used in a way that integrates Global Positioning System (GPS) and Inertia Measurement Unit (IMU) to correct it. However, since GPS is relatively error-prone, it is not suitable for positioning and positioning of multiple UAVs in a narrow space requiring precise positioning. Also, it is impossible to use it in an indoor environment where satellite signals can not be received.

 In order to overcome the disadvantages of positioning using GPS as above, a positioning method using camera image processing is used. However, the operation cost for image processing is large for use for two or more multiple UAVs. In particular, The computation cost of the system becomes very large. In addition, there are disadvantages that it is necessary to change the camera setting and image processing algorithm according to the indoor / outdoor environment (especially illumination).

The present invention is directed to solving the above-mentioned problems and other problems. Another object of the present invention is to provide an apparatus and a system for positioning and trajectory control of an RF-based multiple unmanned aerial vehicle.

According to an aspect of the present invention, there is provided an information processing apparatus including a driver including a plurality of propellers, a receiver receiving distance information from a plurality of anchor nodes emitting an RF signal, And a position controller for determining a target position based on the current position information of the position and the receiver and a position controller for determining at least one of the predetermined position and the locus, And a speed controller for controlling the driving unit based on the position of the anchor node, and the position controller provides an unmanned aerial vehicle that determines the position using a positioning method from a distance between four or more anchor nodes.

According to another aspect of the present invention, there is provided an anchor node including a plurality of anchor nodes capable of RF communication, a plurality of unmanned aerial vehicles including a plurality of propellers and a speed control section for controlling the propeller, Wherein the ground control station comprises an RF-based multiuniverse vehicle which determines the position of each of the unmanned aerial vehicles using the positioning method based on the distance between each of the four or more anchor nodes and each of the unmanned aerial vehicles, And a locus control system.

The effects of the multiple unmanned aerial vehicle and the control method thereof according to the present invention are as follows.

According to at least one of the embodiments of the present invention, there is an advantage of providing an RF-based multiple unmanned aerial vehicle and system thereof that enables movement to the ground and air.

Further scope of applicability of the present invention will become apparent from the following detailed description. It should be understood, however, that the detailed description and specific examples, such as the preferred embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art.

1 is a block diagram illustrating an unmanned aerial vehicle related to the present invention.
2 is a conceptual diagram for explaining the relationship between an unmanned aerial vehicle and an anchor node.
3 is a block diagram illustrating control of a centralized, unmanned aerial vehicle based on bidirectional distance measurement according to an embodiment of the present invention.
FIG. 4 is a block diagram for explaining a control of a centralized, unmanned aerial vehicle based on a bidirectional distance measurement related to the present invention.
5 is a flowchart illustrating a control of an unmanned aerial vehicle according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

1 is a block diagram illustrating an unmanned aerial vehicle related to the present invention.

The UAV 100 may include a receiver and position estimator 110, a position controller 120, a speed controller 130, and a storage 140.

The components shown in FIG. 1 are not essential for realizing an unmanned aerial vehicle, and the unmanned aerial vehicle described in this specification may have more or less components than those listed above.

The receiver and position estimator 110 may be used to determine the distance between the unmanned air vehicle 100 and the anchor nodes 210, 220 and 230, between the unmanned air vehicle 100 and another unmanned air vehicle 100, Lt; RTI ID = 0.0 > wireless < / RTI > In addition, the receiving unit 110 may include one or more modules for connecting the UAV 100 to one or more networks.

The position controller 120 can determine the target position of the UAV 100 and control the position of the UAV 100 based on the estimated position information. The position controller 120 may receive the current location of the unmanned aerial vehicle from the receiving and location estimator 110. [ Accordingly, the position controller 120 can obtain the distance information with three or four or more anchor nodes according to a positioning method to be described later, and can determine the current position of the unmanned air vehicle 100. [

The speed controller 130 can control a driving unit (not shown) of the unmanned air vehicle 100 in which the unmanned air vehicle 100 can move. The speed controller 130 can control the position and speed of the unmanned air vehicle 100 through the position controller 120 and the speed controller 130 based on the previously stored target trajectory and the current position information.

The storage unit 140 may store the location of each of the plurality of anchor nodes, the location information of the UAV 100, and the location information of the target point. In addition, information for driving the unmanned air vehicle 100 can be stored.

The anchor nodes 210, 220, and 230 may communicate with the receiver and position estimator 110 of the unmanned aerial vehicle 100. The anchor nodes 210, 220 and 230 may be communication devices installed at fixed points outside the UAV 100. [

The plurality of anchor nodes 210, 220, and 230 may be disposed, and at least three anchor nodes and the unmanned aerial vehicle 100 must communicate with each other.

In an embodiment of the present invention, in order for the unmanned air vehicle 100 to perform positioning, the distance between the unmanned air vehicle 100 on which the receiving and position estimator 110 is mounted and the four or more anchor nodes, The position of the unmanned aerial vehicle 100 can be measured using a surveying method or the like. However, in some cases, it is possible to measure the distance from three anchor nodes that know the position using a trilateration method or the like. In case of positioning by using three anchor nodes, there is a problem that two positions can be located, but when the case where the unmanned vehicle 100 can not be located is removed, The position of the unmanned air vehicle 100 can be measured.

In addition, in one embodiment of the present invention, it includes a precise position estimation method by combining a laser altitude sensor (not shown) installed on the UAV 100 in addition to the RF distance-based positioning.

 Specifically, the position information of the UAV 100 obtained from the distances between the four or more anchor nodes and the reception and position estimator 110 mounted on the UAV 100 and the altitude information of the laser altitude sensor, which is relatively accurate, It is also possible to estimate the precise position using a fusion method such as filter and H_infinity filter.

Further, in another embodiment of the present invention, it is possible to include a precise position estimation method by combining a conventional GPS / IMU integrated navigation, an RF distance-based positioning, and a laser altitude sensor installed in the UAV 100.

Specifically, the position information obtained by combining the RF distance-based positioning and the laser altitude sensor and the position information of the conventional GPS / IMU integrated navigation method can be estimated more precisely by using a fusion method such as Kalman filter or H_infinity filter .

2 is a conceptual diagram for explaining the relationship between an unmanned aerial vehicle and an anchor node.

In an embodiment of the present invention, a distance between an unmanned air vehicle 100 and an anchor node 100, which is an RF mobile node using a receiver and a position estimator 110, The position of the multiple unmanned aerial vehicle 100 can be measured based on the measurement.

A positioning method of the UAV 100 will be described with reference to FIG.

In an embodiment of the present invention, the anchor nodes 210, 220, 230, 240, 250 and 260 may be arranged in the boundary of the flying range of the UAV 100 in consideration of the RF communication range. However, anchor nodes can be additionally arranged to cover the entire flight range, if the anchor nodes of the boundary of the flight range can not cover the flight range only.

Specifically, when the unmanned air vehicle 100 is located within the communication range of the three anchor nodes disposed at the boundary of the flight range, the position controller 120 calculates the distance between the anchor vehicle 100 and the three anchor nodes, Can be positioned.

Physically, the position controller 120 needs a distance between the at least four anchor nodes and the unmanned air vehicle 100 for positioning in the three-dimensional space. Therefore, if positioning is performed only by the distances between the three anchor nodes and the mobile node, it can not be positioned because it has two solutions (the result of positioning).

However, in an embodiment of the present invention, the position controller 120 can position the UAV 100 using the distance from the three anchor nodes. Specifically, since one of the two solutions occurring at the time of positioning from the three anchor nodes is out of the flightable range, the position controller 120 can obtain a unique solution by eliminating the solution out of the flightable range. Therefore, the positioning of the unmanned air vehicle 100 can be possible.

This positioning method according to an embodiment of the present invention is advantageous in that the RF communication cost and the calculation cost for positioning can be reduced as compared with positioning from four anchor nodes.

However, if necessary, the position controller 120 can position the UAV 100 using the distance to four or more anchor nodes.

In one embodiment of the present invention, the UAV 100 may control the movement trajectory of the UAV 100 using the position controller 120 and the speed controller 130.

RF-based distance measurement can be used for unidirectional distance measurement, where only one mobile node or anchor node can obtain distance information, and bidirectional distance measurement, at which mobile node and anchor node can simultaneously obtain distance information for each connection of communication method.

The present invention includes a method of locating and controlling the position of the UAV 100 based on the unidirectional distance measurement and the bidirectional distance measurement.

Referring again to FIG.

Referring to FIG. 1, the control of the movement trajectory of the UAV 100 using the distance measurement using the unidirectional distance measurement will be described.

In one embodiment of the present invention, the unidirectional distance measurement means that the unmanned aerial vehicle 100 uses the current position information measured in the receiver and the position estimator. Specifically, the one based on the unidirectional distance measurement is referred to as a decentralized method in the present invention, and the position control according to the target trajectory of the unmanned aerial vehicle 100 in the distributed manner can be as shown in FIG.

The unmanned aerial vehicle 100 is equipped with the receiving unit 110 and can acquire the distance information with three or four or more anchor nodes according to the above-described positioning method, thereby positioning the current position. The position and speed of the unmanned air vehicle 100 can be controlled through the position controller 120 and the speed controller 130 of the unmanned aerial vehicle 100 from the previously stored target trajectory and the current position information.

Also, in the multi-manned vehicle system, each unmanned vehicle can autonomously fly along the stored target trajectory in the manner described above.

Therefore, according to the present invention, each of the plurality of unmanned aerial vehicles can be moved to a desired position through the position controller 120 and the speed controller 130 of each unmanned aerial vehicle.

The receiver and position estimator 110 of the UAV 100 compares the RF received signal strengths (RSSIs) of the anchor nodes to determine the RSSI of the anchor nodes, Anchor nodes can be determined. Therefore, since the distance information is measured from the anchor nodes having strong signal strength, there is an advantage that the error is less than the distance information from the anchor nodes having relatively weak signal strength.

3 is a block diagram illustrating control of a centralized, unmanned aerial vehicle based on bidirectional distance measurement according to an embodiment of the present invention.

FIG. 4 is a block diagram for explaining a control of a centralized, unmanned aerial vehicle based on a bidirectional distance measurement related to the present invention.

Referring to FIG. 3 and FIG. 4, a method of controlling the trajectory of the UAV 100 based on the bi-directional distance measurement will be described.

The RF-based distance measurement method can obtain distance information in both directions from both the anchor node and the receiver and the position estimator. The present invention includes locus design and position control of the bidirectional distance measurement based unmanned aerial vehicle (100). This is referred to as a centralized method in the present invention, and a schematic diagram thereof is shown in FIG. 3 and FIG.

The ground control station (GCS) 300 collects all the distance information of the anchor nodes and the plurality of the unmanned air vehicles 100 from the anchor nodes, determines the positions of the unmanned air vehicles 100, We design the trajectory that is suitable for the purpose of multiple unmanned aerial vehicle system. And the trajectory of each designed unmanned aerial vehicle can be transmitted to each unmanned aerial vehicle.

 Similarly, each of the unmanned aerial vehicles 100 can measure its position in real time from the distance information with the anchor nodes, and can autonomously fly according to the trajectory transmitted from the GCS 300. In addition, it may receive the current location information of the unmanned aerial vehicle positioned as the anchor nodes rather than the reception and position estimator 110, and may autonomously fly.

That is, in one embodiment of the present invention, the UAV 100 can move according to the trajectory received from the GCS 300, and the GCS 300 can receive information about the positions of a plurality of unmanned aerial vehicles, The unmanned aerial vehicle can be controlled so that the unmanned aerial vehicles move without colliding with each other.

5 is a flowchart illustrating a control of an unmanned aerial vehicle according to an embodiment of the present invention.

The step of controlling the unmanned aerial vehicle includes a step S120 of collecting distance information from the anchor node, a step of determining the current position of the multiple unmanned aerial vehicle (S130), the determination of the possibility of collision with another unmanned aerial vehicle A step S140 of redesigning the trajectory of the collision-capable unmanned aerial vehicle, and a step S160 of transmitting the redesigned trajectory to the impulse-capable unmanned aerial vehicle.

In step S120 of collecting the distance information from the anchor node and in step S130 of determining the current position of the multiple unmanned aerial vehicle, the GCS 300 collects the distance information between the unmanned aerial vehicle and the anchor nodes, . The method in which the GCS 300 locates the position of each unmanned air vehicle may be the same as the method described above.

In step S140 of determining the possibility of collision with another unmanned aerial vehicle in the trajectory of each unmanned aerial vehicle, the GCS 300 can determine whether each unmanned air vehicle collides with the unmanned aerial vehicle using information on the trajectory of each unmanned aerial vehicle.

In the step of redesigning the trajectory of the collision-capable unmanned aerial vehicle (S150) and the step of transmitting the redesigned trajectory to the impulseable unmanned aerial vehicle (S160), the GCS 300 redesigns the trajectory of a plurality of unmanned aerial vehicles, It can be transmitted to each unmanned aerial vehicle.

Therefore, according to the embodiment of the present invention, even if there are a plurality of unmanned aerial vehicles, the GCS 300 determines trajectories of the unmanned aerial vehicles, thereby preventing the unmanned aerial vehicles from colliding with each other.

In other words, in the case of the centralized positioning with the GCS 300, the GCS 300 not only determines the set of anchor nodes by using the RSSI as an index, It is possible to determine the set of anchor nodes by considering each of the flying objects, and based on this, it is possible to determine the position of each of the unmanned airplanes and to prevent the collision by setting the orbit.

Accordingly, according to an embodiment of the present invention, a centralized positioning system having a GCS 300 in a multiple unmanned aerial vehicle performance platform equipped with equipment capable of providing visual and auditory effects of an LED, a speaker, It is advantageous to perform multi-flight unmanned aerial vehicle performance.

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, . Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

100: unmanned vehicle
110:
120: Position controller
130: Speed controller

Claims (10)

A driving unit including a plurality of propellers,
A receiver and position estimator for receiving distance information from a plurality of anchor nodes emitting RF signals and for presently positioning the same,
A storage for storing at least one of the position, the target position and the locus of the anchor node;
A position controller for determining a position based on the received information,
And a speed controller for controlling the speed by controlling the driving unit on the basis of the predetermined target position and the locus,
The position controller determines the distance to each of the three anchor nodes using the three anchor nodes and the RF signal, and applies a trilateration method to the determined distances to the three anchor nodes to determine two positions And determines a position of the unmanned aerial vehicle by eliminating a position out of the available range of the unmanned aerial vehicle among the two predicted positions. delete The method according to claim 1,
Receiving information on the position of the anchor node, the target position, and the locus from a Ground Control Station (GCS) and storing the received information in the storage,
The position controller determines the target position and controls the position using the information received from the ground control center,
Wherein the speed controller controls the driving unit using information received from the ground control station. The method according to claim 1,
Wherein the receiver and the position estimator determine an anchor node for determining a position in descending order of RSSI by comparing RF received signal strengths of the anchor nodes. The method according to claim 1,
Wherein the receiver and the position estimator directly receive the current position information of the unmanned aerial vehicle from the anchor node. delete A plurality of anchor nodes emitting RF signals,
A plurality of unmanned aerial vehicles including a plurality of propellers and a speed control unit for controlling the propeller,
And a ground control station for controlling the plurality of anchor nodes and the plurality of unmanned aerial vehicles,
The ground control station determines the position of each of the unmanned aerial vehicles using the positioning method based on the distance between each of the plurality of anchor nodes and each of the unmanned aerial vehicles,
The ground control station determines the distance to each of the three anchor nodes by using three anchor nodes and RF signals and applies trilateration method to the distance between the three anchor nodes to determine two And determining a position of each of the unmanned aerial vehicles by removing positions out of the allowable range of the unmanned aerial vehicle among the two predicted positions based on the position and the trajectory of the unmanned aerial vehicle.
delete 8. The method of claim 7,
The above-mentioned ground control station determines the anchor node for determining the position in consideration of the position of each of the unmanned aerial vehicles on the basis of the trajectory designed by considering the collision between the unmanned aerial vehicle and the ground control station. Trajectory control system. delete

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