한국항공우주학회지 (Journal of the Korean Society for Aeronautical & Space Sciences)

  • 제49권7호
  • /
  • Pages.557-564
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  • 2021
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  • 1225-1348(pISSN)
  • /
  • 2287-6871(eISSN)
한국항공우주학회 (The Korean Society for Aeronautical and Space Sciences)
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사전 시뮬레이션과 점항법 유도를 이용한 고정익 무인기의 자동 착륙 접근

Pre-simulation based Automatic Landing Approach by Waypoint Guidance for Fixed-Wing UAV

  • 투고 : 2020.10.28
  • 심사 : 2021.05.06
  • 발행 : 2021.07.01
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초록

본 논문에서는 고정익 무인기의 점항법을 이용한 자동 착륙 접근 유도에 대해 기술한다. 본 연구의 주요 특징은 Dubin's 모델 기반 2D 사전 시뮬레이션을 이용하여 자동 착륙 접근에 필요한 경로점을 생성하고, 또한 사전 시뮬레이션으로부터 활주로까지의 남은 시간을 예측하여 이를 고도 제어에 활용한다. 설계한 알고리즘의 성능은 시뮬레이션과 비행 시험을 통해 검증한다.

This paper describes an automatic landing approach algorithm for fixed-wing UAVs using waypoint guidance. The proposed algorithm utilizes simple 2D Dubin's vehicle pre-simulations in planning the waypoints for landing approach. The remaining time to reach the runway is also estimated in the pre-simulation, and it is used for altitude control. The performance of the designed algorithm was verified by simulations and flight tests.

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과제정보

본 논문은 한국항공우주연구원(과제명: 차동 브레이크 고정익 무인기의 지상활주 및 자동이착륙 기술 개발)의 연구비 지원(과제번호: 20CAUV-B155368-02)을 받아 진행된 연구임.

참고문헌

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