Journal of Advanced Navigation Technology (한국항행학회논문지)

The Korean Navigation Institute (한국항행학회)
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Safety Distance Visualization Tool for LTE-Based UAV Positioning in Urban Areas

도심 지역 LTE 측위 기반 무인항공기 안전거리 생성 알고리즘 연구 및 시각화 도구 개발

  • Lee, Halim (School of Integrated Technology, Yonsei University) ;
  • Kang, Taewon (School of Integrated Technology, Yonsei University) ;
  • Seo, Jiwon (School of Integrated Technology, Yonsei University)
  • 이하림 (연세대학교 글로벌융합공학부) ;
  • 강태원 (연세대학교 글로벌융합공학부) ;
  • 서지원 (연세대학교 글로벌융합공학부)
  • Received : 2019.08.13
  • Accepted : 2019.10.28
  • Published : 2019.10.31
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Abstract

We developed a surveillance tool for collision avoidance of unmanned aerial vehicles (UAVs) in urban areas. In our tool, users can visualize the safety distance on the actual 3D map of urban area. The estimated positions of UAVs are assumed to be obtained based on the long-term evolution (LTE) signals. The safety distance is defined to include two or more signals with bias. The safety distance calculation method used in this paper enables simulation similar to the actual urban areas where signals are frequently biased due to multipath. In the simulation, the parameters were set based on the measured values, and the change of the safety distance according to the number of faulty signals was simulated. As a result, increasing the number of faulty signals led to a longer safety distance as expected.

본 연구에서는 도심지역의 무인항공기 충돌 방지를 위한 관제 도구를 개발하였다. 개발된 도구에서 사용자는 실제 도심지역 3D 지도상에 기지국과 무인항공기를 배치한 뒤, 안전 거리를 가시화할 수 있다. 이 때, 무인항공기의 위치는 long-term evolution(LTE) 신호를 기반으로 계산된다고 가정하였다. 또한, 무인항공기의 안전 거리는 거리 측정 오차의 바이어스가 발생한 신호를 포함하도록 정의되었다. 이러한 안전거리 계산 방식은 다중 경로에 의해 바이어스 신호가 빈번히 발생하는 실제 도심환경의 특성을 반영한다. 개발된 도구 상에서 실측값을 바탕으로 파라미터를 설정하고 고장 신호 개수에 따른 안전거리의 변화를 시뮬레이션하였다. 그 결과 고장 신호의 개수가 증가함에 따라 안전거리가 증가하는 정상적인 결과가 출력됨을 확인하였다.

Keywords

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