Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An Implementation Study on a Low-cost High-accuracy Position Monitoring System for Unmanned Flying Robots

Embedded Linux 기반 무인비행로봇의 저가 고정밀 위치 모니터링 시스템 구현 연구

  • Lim, Joonhoo (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University) ;
  • Kim, Hee Sung (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University) ;
  • Lee, Je Yong (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University) ;
  • Choi, Kwang Ho (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University) ;
  • Cho, Jeongho (Department of Avionics Eng., Hanseo University) ;
  • Lee, Hyung Keun (School of Electronics, Telecomm. & Computer Eng., Korea Aerospace University)
  • 임준후 (한국항공대학교 항공전자 및 정보통신공학부) ;
  • 김희성 (한국항공대학교 항공전자 및 정보통신공학부) ;
  • 이제영 (한국항공대학교 항공전자 및 정보통신공학부) ;
  • 최광호 (한국항공대학교 항공전자 및 정보통신공학부) ;
  • 조정호 (한서대학교 항공전자공학과) ;
  • 이형근 (한국항공대학교 항공전자 및 정보통신공학부)
  • Received : 2014.08.30
  • Accepted : 2014.09.22
  • Published : 2014.12.01
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Abstract

Recently, UFRs (Unmanned Flying Robots) have begun to be utilized in various areas for civilian and military applications. Due to this increased utilization, accidents involving UFRsare also increasing. To prevent or monitor accidents caused by UFRs, high-accuracy positioning information is one of the most important technical elements. This paper proposes an efficient UFR monitoring system which provides accurate UFR positioning information with low-cost onboard elements; a small ARM module based on an embedded Linux operating system, a low-cost single frequency GPS receiver with a cheap patch antenna, and a versatile wireless network interface module. The ground monitoring system employs a dual frequency GPS receiver to generate exact UFR coordinates with cm-level accuracy. By processing the UFR measurements based on the Inverse RTK (Real Time Kinematic) method, the ground monitoring system determines the cm-level accurate coordinates of the UFR. The feasibility of the proposed UFR monitoring system was evaluated by three experiments in terms of data loss and accuracy.

Keywords

References

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