• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.5
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• pp.422-428
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• 2013

Recently, many unmanned aerial vehicle (UAV) studies have focused on small UAVs, because they are cost effective and suitable in dangerous indoor environments where human entry is limited. Map building through distance measurement is a key technology for the autonomous flight of small UAVs. In many researches for unmanned systems, distance could be measured by using laser range finders or stereo vision sensors. Even though a laser range finder provides accurate distance measurements, it has a disadvantage of high cost. Calculating the distance using a stereo vision sensor is straightforward. However, the sensor is large and heavy, which is not suitable for small UAVs with limited payload. This paper suggests a low-cost distance measurement system using a laser pointer and a monocular vision sensor. A method to measure distance using the suggested system is explained and some experiments on map building are conducted with these distance measurements. The experimental results are compared to the actual data and the reliability of the suggested system is verified.

• Journal of Korean Society for Geospatial Information Science
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• v.22 no.2
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• pp.3-9
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• 2014

With broadcasting telecommunication, rapid change detection, and construction of spatial information, a long reconnaissance, resources detection in dangerous area and natural disasters, which are difficult for manned aerial vehicles to perform, international recognition in UAV merely being used for limited military purposes has been changed and its demand for both civil and military purpose have been increased. However, considering the current situation that availability of UAV varies and its working areas also broaden, the stability of UAV and the problems of privacy protection are more important in integrated operation of UAV. In particular, the application of UAV system is urgent for the area where rapid decision making due to expedite data construction such as disaster, calamity, and the acquisition of spatial information for small area are required. However, since technical stability for UAV system and institutional regulation in regard of spatial information are not examined, and UAV system has not been integrated with aerial photograph, the limitation of UAV system has been presented. Thus, this study is aimed at analyzing domestic and foreign research trend and institutional research trend in terms of integrated UAV operation, and proposing its implications and the availability of integrated UAV operation for future national spatial information data construction.

• Journal of Convergence for Information Technology
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• v.7 no.3
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• pp.27-36
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• 2017

In almost industries, such as the logistics industry, marine fisheries, agriculture, industry, and services, small unmanned aerial vehicles are used for aerial photographing or closing flight in areas where human access is difficult or CCTV is not installed. Also, based on the information of small unmanned aerial photographing, application research is actively carried out to efficiently perform surveillance, control, or management. In order to carry out tasks in a mission-based manner in which the set tasks are assigned and the tasks are automatically performed, the small unmanned aerial vehicles must not only fly steadily but also be able to charge the energy periodically, In addition, the unmanned aircraft need to land automatically and precisely at certain points after the end of the mission. In order to accomplish this, an automatic precision landing method that leads landing by continuously detecting and recognizing a marker located at a landing point from a video shot of a small UAV is required. In this paper, it is shown that accurate and stable automatic landing is possible even if simple template matching technique is applied without using various recognition methods that require high specification in using low cost general purpose small unmanned aerial vehicle. Through simulation and actual experiments, the results show that the proposed method will be made good use of industrial fields.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.34 no.5
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• pp.535-544
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• 2016

Even though existing methods for orthophoto production using expensive aircraft are effective in large areas, they are drawbacks when dealing with renew quickly according to geographic features. But, as UAV(Unmanned Aerial Vehicle) technology has advanced rapidly, and also by loading sensors such as GPS and IMU, they are evaluates that these UAV and sensor technology can substitute expensive traditional aerial photogrammetry. Orthophoto production by using UAV has advantages that spatial information of small area can be updated quickly. But in the case of existing researches, images of same altitude are used in orthophoto generation, they are drawbacks about repetition of data and renewal of data. In this study, we targeted about small slope area, and by using low-end UAV, generated orthophoto and DEM(Digital Elevation Model) through different altitudinal images. The RMSE of the check points is σ_h = 0.023m on a horizontal plane and σ_v = 0.049m on a vertical plane. This maximum value and mean RMSE are in accordance with the working rule agreement for the aerial photogrammetry of the National Geographic Information Institute(NGII) on a 1/500 scale digital map. This paper suggests that generate orthophoto of high accuracy using a different altitude images. Reducing the repetition of data through images of different altitude and provide the informations about the spatial information quickly.

• International journal of advanced smart convergence
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• v.9 no.3
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• pp.207-214
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• 2020

Currently, the operation of unmanned aerial vehicle (UAV) is regulated to be able to fly only within the visible range, but in recent years, the needs for operation in the invisible area, in the urban area and at night have increased. In order to operate UAVs in the invisible area, at night, and in the urban area, a flight path for UAVs must be prepared like those operated by manned aircraft, and for this, it is necessary to establish an unmanned aircraft system traffic management (UTM). In order to establish the UTM, information on the minimum separation distance to prevent collisions with UAVs and buildings is required, and accordingly, information on the navigation performance of UAVs is required. In order to analyze the navigation performance of an UAV, total system error (TSE), which is the difference between the planned flight path and the actual location of the UAV, is required. If the collected data are insufficient and classification according to integrity, independence, and direction is not performed, accurate navigation performance is not derived. In this paper, propose a navigation performance analysis method of UAV that is derived TSE using flight data and modeled with normal distribution, analyze performance.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.633-643
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• 2005

An unmanned aerial vehicle (UAV) is an aircraft controlled by .emote commands from ground station and/o. pre-programmed onboard autopilot system. A navigation system in the UAV provides a navigation data for a flight control computer(FCC). The FCC requires accurate and reliable position, velocity and attitude information for guidance and control. This paper proposes an ADGPS/INS integrated navigation system for a UAV. The proposed navigation system comprises an attitude determination GPS (ADGPS) receive., a navigation computer unit, and a low-cost commercial MEMS inertial measurement unit(IMU). The navigation algorithm contains a fault detection and isolation (FDI) function fur integrity. In order to evaluate the performance of the proposed navigation system, two flight tests were preformed using a small aircraft. The first flight test was carried out to confirm fundamental operation of the proposed navigation system and to check the effectiveness of the FDI algorithm. In the second flight test, the navigation performance and the benefit of the GPS attitude information were checked in a high dynamic environment. The flight test results show that the proposed ADGPS/INS integrated navigation system gives a reliable performance even when anomalous GPS data is provided and better navigation performance than a conventional GPS/INS integration unit.

• Journal of Computing Science and Engineering
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• v.2 no.4
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• pp.357-374
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• 2008

Over the past few decades, a considerable number of studies have been conducted on the technologies to build an UAV (Unmanned Aerial Vehicle) control system. Today, focus in research has moved from a standalone control system towards a network-centric control system for multiple UAV systems. Enabling the design of such complex systems in easily understandable forms that are amenable to rigorous analysis is a highly desirable goal. In this paper, we discuss our experimental evaluation of the Time-triggered Message-triggered Object (TMO) structuring scheme in the design of the UAV control system. The TMO scheme enables high-level structuring together with design-time guaranteeing of accurate timings of various critical control actions with significantly smaller efforts than those required when using lower-level structuring schemes based on direct programming of threads, UDP invocations, etc. Our system was validated by use of environment simulator developed based on an open source flight simulator named FlightGear. The TMO-structured UAV control software running on a small computing platform was easily connected to a simulator of the surroundings of the control system, i.e., the rest of the UAV and the flight environment. Positive experiences in both the TMO-structured design and the validation are discussed along with potentials for future expansion in this paper.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.33 no.5
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• pp.397-405
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• 2015

Currently, Korea's digital maps are being produced through traditional aerial photogrammetry methods. Aerial photogrammetry is the most economical way to produce a map of a wide area. However, timely survey is not allowed depends on weather condition and it is inefficient for small area surveying in economic point of view. Therefore, it costs too much and needs long time to produce a map for various small areas where are terrestrial changes for updating the map. In contrast, UAV photogrammetry is possible to work even in cloudy weather because of shooting at low altitude below the clouds. It also has excellent mobility and shoot quickly and well suited for small-scale mapping in several places by low cost. In this study, we produced an ortho-photo and digital map with the UAV photogrammetry method using SIFT and SfM algorithm and verified its accuracy to evaluate the applicability for future digital map updates. The accuracy was verified by comparing the results of the ground survey for check points selected on the digital map. Test results show small errors at ±2.6cm in X coordinates, ±2.8cm in Y coordinates and ±5.8cm in height and we could find a possibility that UAV photogrammetry would be fully applicable for digital map updating.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2003.10a
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• pp.261-266
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• 2003

Foil air bearing, which is a noncontact bearing utilizing viscosity of operating fluid and elastic deformation of foil structure, has several advantages over rolling element bearings in terms of oilless environment, long life, high speed operation, and high temperature application over $500^{\circ}C$ . Recently advanced researches are actively being performed for the application to the extreme temperature such as gas turbines, as well as conventional small turbo machinery. In this paper, the principle of foil air bearing is introduced and a feasibility study to adopt a foil bearing as the turbine bearing of 65 HP turbo shaft engine, which is under development for UAV, is presented.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2008.05a
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• pp.251-256
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• 2008

The experimental analysis on a ducted fan for the propulsion system of a small UAV were performed. To investigate the aerodynamic characteristics of the ducted fan, flow fields at inlet and outlet were measured using a hot-wire anemometry. Thrusts were measured with the six-component balance with due regard to the cross wind. To reproduce the cross wind effect, the ducted fan was aligned to $90^{\circ}$ rotated direction against flow direction in the wind tunnel. In this paper, the variation of the flow fields and thrust according to the cross wind were analyzed.