• 한국위성정보통신학회논문지
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• 제10권3호
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• pp.32-37
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• 2015

무인항공기는 조종사 없이 지상에서의 원격조종에 의해 스스로 비행하는 비행체이다. 하지만 무인항공기는 제어가 쉽다는 장점이 있지만, 어떤 한 지점 위를 정지하여 비행하는 호버링 기능을 할 수 없다는 단점이 있다. 그에 비해 무인항공기 중 하나인 쿼드콥터는 동작원리가 간단하고 호버링이 가능하고, 비행의 안정성이 높다는 장점이 있다. 본 논문에서는 쿼드콥터의 안정화 비행을 위한 PID 제어 방식과 Fuzzy 제어 방식을 이용하는 비행 안정화 알고리즘을 제안한다. 본 시스템은 자이로 센서와 가속도 센서의 결합을 통해 드론의 현재 자세 값을 알아낸 후 자세 제어 알고리즘을 통해 안정화 비행을 실시한다. 또 GPS 센서를 이용하여 현재의 위치를 외부조작 없이 유지하는 위치고정 모드를 제안한다.

• 항공우주기술
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• 제13권1호
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• pp.166-173
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• 2014

최근 쿼드콥터에 대한 관심이 증가하면서 방송에서 군에 이르기까지 다양한 분야에서 활용되고 있다. 특히 다수의 쿼드콥터를 동시에 제어하는 군집 비행 연구는 중요 임무 수행 성공 확률을 높일 수 있고, 예술과 융합되어 군무를 수행하는 등 다양한 응용에 활용될 수 있다. 본 논문에서는 AR.Drone을 활용하여 실내에서 모션 캡쳐 기반으로 다수의 비행체가 서로의 위치를 파악하고, 시나리오에 맞춰 정해진 임무를 수행하기 위해 개발된 군집 비행 시스템을 소개한다.

• 정보보호학회논문지
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• 제29권1호
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• pp.57-66
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• 2019

최근 다방면으로 활용되고 있는 드론은 무인 환경에서 동작하고 보안이 취약한 무선 통신을 사용하기 때문에 물리적 탈취 공격, 정보 유출 공격 등 다양한 보안 위협에 취약하다. 특히, 불법 드론 탈취로 인해 저장정보 유출 및 무단 도용 등의 피해를 예방하기 위한 연구가 필요하다. 이에 본 논문에서는 드론이 불법적으로 탈취당한 경우에, 저장된 내부 정보를 보호하고, 무단 도용을 예방할 수 있는 상황인지 기반 드론 제어 메커니즘을 제안하고, 제안 메커니즘의 실현성을 프로토타입 구현 및 실험으로 보였다.

• 전자공학회논문지
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• 제53권5호
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• pp.168-173
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• 2016

최근 드론 시장이 급속히 발전하고 있다. 상업용 드론시장이 급격한 성장세를 보이고 있으며 드론의 활용분야가 여러 산업 분야에서 확대되고 있다. 기존 드론제어는 1:1 컨트롤러에 의한 제어 위주의 환경이었고 원거리에 있는 드론의 제어 및 정보 수집은 불가하였다. 본 논문에서는 드론네트워크 환경에 적용 가능한 MANET 라우팅 프로토콜에 대해 살펴보고, 원거리에 있는 드론의 제어와 정보 수집을 위해 MANET 기반의 드론간 분산제어 통신을 제안한다. 또한 드론운행과 사용 목적별 특징에 따라 분류하고 각 드론네트워크 환경에 적합한 반응형과 예방형 MANET 라우팅 프로토콜의 특징을 분류하여 이에 따라 드론의 환경에 따른 적합한 MANET 라우팅 프로토콜을 제안한다.

• 전기학회논문지
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• 제67권6호
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• pp.773-781
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• 2018

In recent years, a study of power-line inspection using an unmanned aerial vehicle (UAV) has been actively conducted. However, relevant studies have been conducting power-line inspection with an UAV operated by manual control, and they have developed just power-line detection algorithm on aerial images. To overcome limitations of existing research, we propose a drone-based power-line tracking system in this paper. The main contributions of this paper are to operate developed system under configured environment and to develop a power-line detection algorithm in real-time. Developed system is composed of the power-line detection and the image-based tracking control. To detect a power-line in real-time, a region of interest (ROI) image is extracted. Furthermore, clustering algorithm is used in order to discriminate the power-line from background. Finally, the power-line is detected by using the Hough transform, and a center position and a tilt angle are estimated by using the Kalman filter to control a drone smoothly. We design a position controller and an attitude controller for image-based tracking control, and both controllers are designed based on the proportional-derivative (PD) control method. The interaction between the position controller and the attitude controller makes the drone track the power-line. Several experiments were carried out in environments where conditions are similar to actual environments, which demonstrates the superiority of the developed system.

• 대한임베디드공학회논문지
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• 제15권3호
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• pp.149-157
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• 2020

Regarding previously-developed drone simulators, it was easy to check their flight stability or controlling functions based on the condition that their weight was fixed from the design. However, the drone is largely classified into two types that is the one with the fixed weight whose purpose is recording video with camera and racing and another is whole weight-variable during flight with loading the articles for delivery and spraying pesticide though the weight of airframe is fixed. The purpose of this thesis is to analyze the structure of drone and its flight principle, suggest dynamics-model-based simulator that is capable of simulating weight-variable drone and develop the simulator that can be used for designing main control board, motor and transmission along the application of weight-variable drone. Weight-variable simulator was developed by using various calculation to apply flying method of drone to the simulator. First, ground coordinate system and airframe-fixing coordinate system were established and switching matrix of those two coordinates were made. Then, dynamics model of drone was established using the law of Newton and moment balance principle. Dynamics model was established in Simulink platform and simulation experiment was carried out by changing the weight of drone. In order to evaluate the validity of developed weight-variable simulator, it was compared to the results of clean flight public simulator against existing weight-fixed drone. Lastly, simulation test was performed with the developed weight-variable simulation by changing the weight of drone. It was found out that dynamics model controlled various flying positions of drone well from simulation and the possibility of securing the optimum condition of weight-variable drone that has flying stability and easiness of controlling.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2016년도 추계학술발표대회
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• pp.90-93
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• 2016

본 논문에서는 Sub-GHz band module을 Drone에 탑재하여 Drone과 전원공유로 Node(Drone)간 Low power and Long range Ad-hoc communication을 할 수 있는 방법을 제안하고자 한다. 또한 이동성이 있는 Node(Drone)의 Low power and Long range communication을 위해서 Drone에 적합한 Asynchronous MAC (medium access control) protocol을 비교분석하여 적용하였다. 본 고에서는 무선 센서 네트워크의 응용 범위가 확대되면서 고정된 인프라 없이 Drone간에 실시간 정보를 통신 할 수 있게 하고 사람의 이동이 어렵고 위험한 재난지역, 방사선노출지역 또는 우천시 유인기와 사람의 접근이 불가능한 지역을 Drone이 대신 이동하여 인명피해를 줄이고 안전하게 필요한 데이터를 수집하여 상황관제실로 전송하는 서비스를 제공하고자 한다.

• 한국지형학회지
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• 제28권4호
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• pp.41-52
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• 2021

With the popularization of drones and the ease of use of the Global Navigation Satellite System (GNSS), drone photogrammetry for terrain information has been widely used. Drone photogrammetry enables the realization of high-accuracy three-dimensional topography for the entire area with less effort and time compared to the past direct survey using GNSS or total station. From 3-D topographic data, various topographical analysis is possible. To improve the accuracy of drone photogrammetry, direct GCP surveying in the field is essential, and the numbers and reasonable positioning of GCPs are very important. In the case of beaches or tidal flats on the west coast of Korea, the numbers and location of GCPs are important factors in efficient drone photogrammetry because of the size of the area, difficulties of movement, and the risk from tides. If the RTK (Real-time kinematic) or PPK (Post-processed kinematic) method is used, the increased accuracy of the drone's location enables high-accuracy photogrammetry with a small number of GCPs. This study presents an efficient drone photogrammetry method in terms of time and economy by comparing and analyzing the results of drone photogrammetry using Non-PPK with low-cost PPK-Kit, based on the tests of various numbers and locations of GCPs in the university field including various slopes and structures like coastal terrain.

• 전자통신동향분석
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• 제33권4호
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• pp.70-80
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• 2018

Drones are now widely used in civilian applications such as filming, leisure, agricultural control, monitoring, and the generation of 3D-spatial information, deviating only from military drones. In the field of logistics, prototypes are emerging in the area of logistics transportation, and to develop a future transportation service under the name of a drone tax, each country is introducing its first flight results using its own unique drones. In this paper, we review the domestic and overseas trends of drone delivery service technology, which requires various capabilities such as automatic flight, and review the related core technologies. We then propose the flight capability and road map of a drone delivery service according to the detailed conditions such as the flight area, visibility, and flight method. Additionally, in connection with the postal processing of the Korea Post Office, which would be a main demand for this type of service, we describe a method for realizing a drone delivery service based on the structure, scenario, and deployment of the drone delivery system.

• International journal of advanced smart convergence
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• 제6권3호
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• pp.38-44
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• 2017

Currently, wired gables have been installed or portable storage devices have been installed for data acquisition of flying drone. In this paper, we propose a technology to transmit data wirelessly by sensing information such as battery discharge value, acceleration, and temperature by attaching RF sensor to a drone. The purpose of this paper is to design and develop the monitoring technology of agriculture drone battery usage in real time using RF sensor. In this paper, we propose a monitoring system that can check real time data of battery changed value, temperature, and acceleration during pesticide control activity of agricultural drone.