• 전기학회논문지
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• 제64권7호
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• pp.1056-1063
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• 2015

In this paper, we develop an interface for aerial photograph platform which consists of a quadrotor and a gimbal using the human body and the head posture. As quadrotors have been widely adopted in many industries such as aerial photography, remote surveillance, and maintenance of infrastructures, the demand of aerial video and photograph has been increasing remarkably. Stick type remote controllers are widely used to control a quadrotor, but this method is not an intuitive way of controlling the aerial vehicle and the camera simultaneously. Therefore, a new interface which controls the serial photograph platform is presented. The presented interface uses the human head movement measured by head-mounted display as a reference for controlling the camera angle, and the human body posture measured from Kinect for controlling the attitude of the quadrotor. As the image captured by the camera is displayed on the head-mounted display simultaneously, the user can feel flying experience and intuitively control the quadrotor and the camera. Finally, the performance of the developed system shown to verify the effectiveness and superiority of the presented interface.

• 한국측량학회지
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• 제30권2호
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• pp.173-180
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• 2012

최근 비약적인 기술발전을 통해 8,000만 화소급 디지털 카메라가 등장했으며, 비측량용 디지털 카메라가 사진 측량 분야에서 다양하게 활용되고 있다. 본 연구에서는 항공사진과 지상기준점을 이용하여 렌즈 캘리브레이션을 수행하였다. 항공사진은 35mm 렌즈가 장착된 CMOS 2,110만 화소급 비측량용 디지털 카메라를 헬리콥터에 설치하여 취득하였고, 지상기준점은 1:1,000 도화원도에서 선점하였다. 그 결과 렌즈에 대한 초점거리, PPA, 방사왜곡계수를 계산할 수 있었다. 또한 렌즈 캘리브레이션 전후에 항공삼각측량을 수행하여 지상기준점의 평균제곱근오차와 최대 잔차를 비교하였으며, 캘리브레이션 후 정확도가 매우 큰 폭으로 향상됨을 알 수 있었다.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2016년도 제54차 하계학술대회논문집 24권2호
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• pp.131-132
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• 2016

우리는 많은 소형 무인비행체들이 운행될 곧 다가올 미래에 대비하여 무인비행체들 간의 충돌 예방을 할 수 있는 방안에 대하여 연구를 진행하고 있다. 본 논문에서는 높은 밀집도를 가지는 소형 무인 비행체들 간의 충돌을 회피하기 위하여 무인비행체의 성능에 따라 클래스를 부여하고 비행 고도를 지정해주고 지정된 고도 내에서는 수평 비행을 하고 클래스간 이동을 위해서는 몇개의 정해진 지점에서만 수직 비행이 가능하도록 하는 제어 방안을 논하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.141.3-141
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• 2001

Since 1990´s, there has been many researches for the development of the Unmanned Aerial Vehicle (UAV). Especially, for the development of digital electronics, the technologies of UAV toward to the miniaturization low-cost, and high reliability. Therefore, recent trends for the development of UAV are focused on the development modern Flight Control System (FCS). In this paper, focusing on the FCS, the development process for Sejong Unmanned Research Vehicle -1 (SURV-1) from design to flight test is presented.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1260-1265
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• 2008

This study deals with modeling and flight control of quadrotor type (QRT) unmanned aerial vehicles (UAVs). Rigorous dynamic model of a QRT UAV is obtained both in reference and body frame coordinate systems. A disturbance observer (DOB) based controller using the derived dynamic models is also proposed for robust hovering control. The control input induced by DOB is helpful to use simple equations of motion satisfying accurate derived dynamics. The experimental results show the performance of the proposed control algorithm.

• International Journal of Aeronautical and Space Sciences
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• 제13권1호
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• pp.90-98
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• 2012

In this paper, the Integrated Guidance and Control (IGC) law is proposed for the Rotary Unmanned Aerial Vehicle (RUAV). The objective of the IGC law is to consider the nonlinear dynamic characteristics of the RUAV and to design a guidance law which takes into consideration the nonlinear relationship between kinematics and dynamics. In order to control the RUAV system, sliding mode control scheme is adopted. As the RUAV is an under-actuated system, a slack variable approach is used to generate the available control inputs. Through the Lyapunov stability theorem, the stability of the proposed IGC law is proved. In order to verify the performance of the IGC law, numerical simulations are performed for waypoint tracking missions.

• 한국융합학회논문지
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• 제8권4호
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• pp.183-188
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• 2017

소형 무인항공기의 가격이 저렴해지고 제어가 쉬워짐에 따라, 고정익 또는 회전익 무인항공기를 사용하는 항공 어플리케이션이 최근 많이 등장하였다. 본 논문에서는 4대의 회전익 무인항공기를 사용한 새로운 공중 광고법이 제안되었다. 무인항공기 군집 제어를 통해, 4대의 무인항공기가 $7.07{\times}7.07m^2$ 사이즈의 정사각형 현수막을 사전에 정의된 비행경로를 따라 운반하며 공중 광고를 한다. 시뮬레이션 결과에 따르면, 무인항공기들이 $669{\times}669m^2$ 크기의 영역에서 전체를 비행하며 공중 광고를 수행하는 데는 총 270 s 가 소요되며, 무인항공기들 사이의 최소거리는 0.45 m 로서 충돌이 발생하지 않음이 밝혀졌다. 몇몇 급격한 방향 전환이 필요한 경로로 인하여 무인항공기들이 정확한 정사각형 군집 비행을 수행하기 어려운 구간이 있으며, 이때 정사각형 편대 비행의 최대 및 최소 변의 길이는 10.35 m와 1.96 m로 밝혀졌다. 또한, 정사각형 편대 비행의 최대 및 최소 대각선 길이는 각각 14.75 m와 2.78 m로 파악되었다.

• International Journal of Aeronautical and Space Sciences
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• 제18권4호
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• pp.623-640
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• 2017

The full nonlinear equations of an unmanned aerial vehicle ground taxiing mathematical dynamic model are built based on a type of unmanned aerial vehicle data in LMS Virtual.Lab Motion. The flexible landing gear model is considered to make the aircraft ground motion more accurate. The electric braking control system is established in MATLAB/Simulink and the experiment of it verifies that the electric braking model with the pressure sensor is fitted well with the actual braking mechanism and it ensures the braking response speediness. The direction rectification control law combining the differential brake and the rudder with 30% anti-skid brake is built to improve the directional stability. Two other rectifying control laws are demonstrated to compare with the designed control law to verify that the designed control is of high directional stability and high braking efficiency. The lateral displacement increases by 445.45% with poor rectification performance under the only rudder rectifying control relative to the designed control law. The braking distance rises by 36m and the braking frequency increases by 85.71% under the control law without anti-skid brake. Different landing conditions are simulated to verify the good robustness of the designed rectifying control.

• 한국항공운항학회지
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• 제30권3호
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• pp.109-116
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• 2022

A modular platform development technique was proposed to minimize development cost and development period by utilizing the already developed unmanned Aerial target AVT, which has been operated and verified for many years. New Mission Profile was designed and structural analysis was performed through finite element analysis (FEA) by analyzing mission requirements for visual short-range, non-visible mid-range, and long-range targets. The targets are used for guided missile anti-aircraft training. In addition, avionics systems including flight control computers for autonomous flights were developed to verify their conformance by performing launcher take-off tests with rapid acceleration changes and autonomous flight tests at a maximum speed of 300km per hour.

• 제어로봇시스템학회논문지
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• 제11권3호
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• pp.240-245
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• 2005

In this paper, planar waypoint guidance synthesis for UAVs using the LQ optimal impact-angle-control guidance law is proposed. We prove that the energy-optimal control problem with the constraint of passing through the waypoints is equivalent to the problem of finding the optimal pass angles on each waypoint of the optimal impact-angle-control law. The optimal pass angles can be obtained as a numerical solution of the simple pass angle optimization problem that requires neither input parameterization nor constraints. The trajectory obtained by applying the optimal impact-angle-control law with these optimal pass angles becomes energy optimal.