• Journal of Biosystems Engineering
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• v.36 no.6
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• pp.476-483
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• 2011

The aerial application using an unmanned helicopter has been already utilized and an attitude controller would be developed to enhance the operational convenience and safety of the operator. For a preliminary study of designing flight controller, a state space model for an RC helicopter would be identified. Frequency sweep flight tests were performed and time history data were acquired in the previous study. In this study, frequency response of the flight test data of a small unmanned helicopter was analyzed by using the CIFER software. The time history flight data consisted of three replications each for collective pitch, aileron, elevator and rudder sweep inputs. A total of 36 frequency responses were obtained for the four control stick inputs and nine outputs including linear velocities and accelerations and angular velocities in 3-axis. The results showed coherence values higher than 0.6 for every primary control inputs and corresponding on-axis outputs for the frequency range from 0.07 to 4 Hz. Also the analysis of conditioned frequency response showed its effectiveness in evaluating cross coupling effects. Based on the results, the dynamic characteristics of the model helicopter can further be analyzed in terms of transfer functions and the undamped natural frequency and damping ratio of each critical mode.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.26 no.2
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• pp.111-116
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• 2008

The study installed non metric camera which was a 10 Mega Pixel camera in RC Helicopter. And the study controlled images hotographed in air on land, considering their overlap. The study could express DEM by abstracting TIN from the acquired images through image registration. Also, the study compared and examined accuracy between reference point and check point observed by Total Station which was a conventional type of survey. As the results, the study could get errors of $-0.194{\sim}0.224\;m$ on X axis, $-0.088{\sim}0.180\;m$ on Y axis and $-0.286{\sim}0.285\;m$ on Z axis. Expressing an error's RMSE in the checkpoint, the study could get of 0.021388 m on X axis, 0.015285 m on Y axis and 0.041872 m on Z axis. It is judged that the above photographing and analyzing technique are better than the existing Total Station to acquire more terrain elevation data.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.746-749
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• 2002

This paper is introducing a radio control helicopter as a new platform of ground truth measurement. This helicopter is normally used for spraying an agricultural chemical. It can do pinpoint hovering and programing flight using DGPS etc., A spectrometer with dual port can measure ground surface and white reference plate at the same time. And it can also take digital images by digital camera. It is needed to collect ground reflectance information as satellite sensor footprint size for satellite data validation. Generally it is possible to get such ground reflectance by an airplane measurement. But it is high cost and not so easy to make a measurement by airplane. Developed validation system can provide such ground reflectance in low cost and easy.

• JSTS:Journal of Semiconductor Technology and Science
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• v.5 no.4
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• pp.243-248
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• 2005

The UAV (Unmanned Aerial Vehicle) systems like unmanned autonomous helicopters are used in various missions of flight navigation and used to collect the environmental information of the surroundings. To realize the full functionalities of the UAV, the software part becomes a challenging problem. In this paper embedded real-time software architecture for unmanned autonomous helicopter is proposed that guarantee real-time performance of hard-real time tasks and re-configurability of soft-real time and non-real time tasks. The proposed software architecture has four layers: hardware, execution, service agent and remote user interface layer according to the reactiveness level for external events. In addition, the layered separation of concurrent tasks makes different kinds of mission reconfiguration possible in the system. An Unmanned autonomous helicopter system was implemented (Kyosho RC Helicopter) in our lab to test and evaluate the performance of the proposed system.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.23 no.2
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• pp.258-261
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• 2012

Helicopter-borne FMCW radar altimeter obtains the altitude information using the beat frequency between the transmitted and reflected signal from the nadir direction. However, the altitude error may exist when the strong echoes are received from the large RCS at the off-nadir direction because of the wide beamwidth of the altimeter antenna. In this paper, in order to investigate the effect of the altitude error due to the large RCS around the off-nadir direction, the reflected signals were measured by using the corner reflectors displaced on the several reference ground positions, and the acquired signals were analyzed and compared in the spectral domain. The analysis results can be used for the improvement of the altitude accuracy in the radar altimeter.

• Journal of Korean Society for Geospatial Information Science
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• v.14 no.1 s.35
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• pp.37-47
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• 2006

In the last years a low-altitude image acquisition technology has been developed in application of frequent change monitoring in urban area md speedy surveillance in disaster area. A low-altitude photogrammetric system have advantages of accurate observation and free data-acquisition time. Especially, an unmaned RC-helicopter, improving safety, durability and portability, comes into the spotlight as a built-in vehicle in close range photogrammetric application due to their capability of safe near-by observation and effective flight performance. This paper gives a methodology for generating image map by development of low cost and timesaving low-altitude photogrammetric UAV(unmaned aerial vehicles) for collecting high-resolution image data, and implement of geo-rectification and image mosaicking.

• Journal of the Korean Society of Environmental Restoration Technology
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• v.9 no.2
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• pp.81-89
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• 2006

The purpose of this study was to evaluate the applicability of small RC(radio controlled) helicopter and single lens reflect camera as SFAP(Small Format Aerial Photography) aquisition system to monitor the vegetation coverage of wetland. The system used to take pictures of small artificial wetland were a common optical camera(Nikon F80 with manual lens whose focal length was 28mm) attached to the bottom of a RC helicopter with a 50 cubic inch size glow engine. Three hundreds pictures were taken at the altitude of 50m above the ground, from 23rd June to 7th September 2005. Four from the images were selected and scanned to digital images whose dimension were 2048${\times}$1357 pixels. Those images were processed and rectified with GCP(Ground Control Poins) and digital map, and then classified by the supervised- classification module of image processing program PG-steamer Version 2.2. The major findings were as follows ; 1. The final images processed had very high spatial resolution so that the objects bigger than 30mm like lotus(Nelumbo nucifera), rock and deck were easily identified. 2. The dominant plants of the monitoring site were Monochoria ragianlis, Typha latifolia, Beckmannia syzigachne etc. Because those species have narrow and long leaves and form irregular biomass, the individuals were hardly identifiable, but the distribution of population were easily identifiable depending on the color difference. 3. The area covered by vegetation was rapidly increased during the first month of monitoring. At the beginning of the monitoring 23th June 2005, The rate of area covered by vegetation were only 34%, but after 27 and 60 days it increased to 74%, and the 86% respectively.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.76-78
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• 2005

When the data from the artificial satellite is analyzed, recent years it is perceived to vegetation index using BRF(Bidirectional Reflectance Factor) of the observation target. To make the BRF models, it is important to measure the 3D structure of the observation target actually. In this study, it is proposed to the observation technique by using laser scanning data. Also, our team has been operating the radio controlled helicopter which can fly over the tall forest canopy and it can be equipped the measurement system.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.170-173
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• 2004

When the data from the artificial satellite is analyzed, recent years it is perceived to vegetation index using BRF(Bi-directional Reflectance Factor) of the observation target. To make the BRF models, it is important to measure the 3D structure of the observation target actually. In this study, it is proposed to the observation technique by using multi-angle stereo pair image, and shown the observation result in grassland area. Also, our team has been operating the radio controlled helicopter which can fly over the tall forest canopy and it can be equipped the measurement system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.4
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• pp.399-406
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• 2008

Tracking system is developed to receive both telemetry data and video data which are transmitted by radio frequency for the flight test of high manuvering vehicle. Tracking method of tracking system is the phase comparative monopulse that produce tracking data by measuring the phase difference of signal which is received by four patch antennas. The performance of tracking system is verified by flight test for RC helicopter and rocket.