소형 무인항공기를 위한 비행운용시스템의 설계 및 구현

양명섭,김은미 한국지식정보기술학회 2014 한국지식정보기술학회 논문지 Vol.9 No.6

Unmanned aerial vehicles, which are used in special areas such as military affairs or aerial photography, have been studied mainly by military/national institutions. Recently, however, many varieties of researches on the application of unmanned aerial vehicles are conducted by civil corporations. Accordingly we propose an economical and efficient system for flight operation applicable to small unmanned aerial vehicles in this paper. The proposed system consists of the flight control system and ground control system. The flight control system is designed as a distributed processing system employing the dual AVR processor composed of master-slave in preparation for an abundance of signal processing as well as miniaturization and simple mission performances. The ground control system is implemented to comprise 5 windows displaying flight trajectory, flight attitude, GYRO data, aerial imagery, the states of communication and servo, and the state of piloting respectively on a screen, which can make anyone informed of all the performances at a glance and able to pilot the air vehicle easily. In addition, the user interface of ground control system based on the tablet PC is implemented for the convenience of mobile users. The performance of the implemented system and its applicability to small unmanned aerial vehicles are examined by ground tests.

물류수송을 위한 이종 협업 무인 시스템 개발

조성욱(Sungwook Cho),이다솔(Dasol Lee),정연득(Yeondeuk Jung),이웅희(Unghui Lee),심현철(David Hyunchul Shim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.12

In this paper, we propose a novel concept foran unmanned delivery service using a cooperative heterogeneous unmanned system consisting of a self-driving car and an unmanned aerial vehicle (UAV). The proposed concept is suitable to deliver parcels in high-density and high-rise urban or residential areas. In order to achieve the proposed concept, we will develop acooperative heterogeneous unmanned system. Customers can order goods using a smartphone application and the order information, including the position of the customer and the order time, and the package is transported automatically by the unmanned systems. The system assigns the tasks suitable for each unmanned vehicle by analyzing it based on map information. Performance is validated by experiments consisting of autonomous driving and flight tests in a real environment. For more evaluation, the landing position error analysis is performed using circular error probability (CEP).

전원부하분석을 통한 무인항공기 전기시스템 설계 및 검증

우희채 한국군사과학기술학회 2018 한국군사과학기술학회지 Vol.21 No.5

In this paper, we have proposed a design and verification methods of electrical system and power loads for unmaned aeriel vehicles(UAVs) through electrical load analysis. In order to meet a UAV system requirement and electrical system specifications, we have designed an electrical power system for efficient power supply and distribution and have theoretically analyzed the power loads according to the power consumption and power bus design of UAV. Using electrical system rig, the designed electrical power system has been experimentally verified. Also, we have performed several flight tests to verify the UAV electrical system and power loads. It is concluded that the proposed design and verification method of electrical system for UAV system.

드론의 실용화에 따른 민사법적 책임 - EU에서의 규율을 중심으로 -

황정훈(Hwang, Jung-Hoon) 한국법학회 2020 법학연구 Vol.77 No.-

무인 항공기(Unmanned Aerial Vehicle, UAV)를 뜻하는 드론(drone)은 조종사가 비행체에 탑승하지 않고 원격으로 항공기를 조종하는 원격 조종 항공기 시스템(Remotely-Piloted Aircraft Systems, RPAS)을 말하며, 유럽항공안전청의 규율에 따른다. EU 국가별 민사책임과 관련하여 드론의 운행상 안전을 확보하지 못함으로 인하여 발생한 사고에 대해 운행자(operator)에게 책임이 귀속된다고 보고 운행자(operator)에게 엄격한(strict) 증명책임을 지도록 하고 있다. 드론의 책임보험과 관련하여 탑승자를 전제로 하는 자기와 승객의 신체손해는 보험 내용에 포함되지 않고 제3자 배상책임, 관리자의 손해에 대한 배상책임, 부속품의 결함으로 인하여 발생한 손해 등에 대한 담보 제공 등을 보험내용으로 하고 있다. 항공보험이나 자동차보험과 달리 드론은 카메라를 탑재하여 촬영함으로써 개인의 사생활을 침해하고 수집한 개인정보를 유출하는 상황이 발생할 수 있으므로 이로 인하여 발생하는 피해배상과 관련한 내용을 보험에 포함시킬 필요가 있으며, 날씨손해 특약을 보험 내용으로 할 필요가 있다. 드론의 운행으로 인한 사고와 관련한 손해를 산정함에 있어서 드론의 운행으로 인한 위험을 최소화할 수 있는 자가 드론으로 인한 책임을 지도록 하는 위험관리 방식(risk management)을 피해자를 구제하고 합리적 해결을 도모할 수 있는 보험방식으로 그 활용을 적극적으로 검토할 필요가 있다. 우리나라에서 추진하는 ‘드론 분야 선제적 규제혁파 로드맵’에 따르면 안전하고 자유로운 드론비행 환경 조성을 위해 드론비행정보 시스템을 비롯해서 등록 기준과 자격 기준을 구축하고 드론보험 제도를 개선하도록 하였다. 이를 효율적으로 실현하기 위해 로봇 영역에서 민사법 규율에 대한 유럽위원회 권고와 무인 항공기 시스템(UAS)을 기존에 활용되고 있는 항공교통관리 시스템(ATM)과 같은 공역 시스템에 통합하여 교통을 원활하게 관리하기 위한 시스템인 무인 교통 관리(UTM) 시스템 적용을 위하여 EU를 비롯하여 중국, 미국에서 실시하는 것과 같이 최대이륙중량(MTOM) 250g이상 드론에 대하여 등록제를 시행하여야 한다.이와 같이 드론의 실용화에 따라 발생하는 민사법적 책임에 대하여 EU에서의 규율을 검토하여 합리적인 해결방안을 도출해 보고자 한다. The drone, which stands for Unmanned Aerial Vehicle(UAV), regulates the European Aviation Safety Authoritys Remotely-Piloted Aircraft Systems(RPAS), where pilots control the aircraft remotely without boarding the aircraft. In connection with EU civil liability, the operator is held to be responsible for accidents caused by the inability to secure drones in operational safety. In regards to drone liability insurance, personal and passenger damages on the premise of passengers are not included in the insurance contents, and insurance coverage includes third-party liability, managers liability, and accessories. Unlike aviation insurance or car insurance, drones can invade the privacy of individuals by shooting with a camera, and the collected personal information can be leaked. Therefore, it is necessary to include insurance related damages. It is necessary to make weather damage rider insurance contents. Reinsurance is a kind of risk management, which is a kind of non-life insurance, and it is a person who can minimize the risk of drone operation and overcome the negative effects in calculating damages related to accidents caused by the operation of drones. It is necessary to actively review its use as an insurance method that can be applied to risk management to take the responsibility of drones to efficiently rescue victims and promote reasonable resolution. According to the preemptive roadmap for regulatory reform in the drone sector, the drone flight information system, registration criteria and qualification standards, and drone insurance system were improved to create a safe and free drone flight environment. In order to realize this efficiently, the European Commission recommends civil law regulations and robotic unmanned aerial vehicle systems(UAS) in the robotic field to integrate the existing airspace systems such as the air traffic management system(ATM). It is necessary to review the registration system of drones for the application of the unmanned traffic management (UTM) system.

무인항공 영상을 이용한 공간정보 응용 시스템 활용 방안

이근왕,박준규 한국디지털정책학회 2019 디지털융복합연구 Vol.17 No.2

Korea is constructing geospatial information application system for geospatial information utilization, but it is trying to establish a system for joint use of geospatial information system centering on Ministry of Land Transport and Transport due to the problem of sharing. The purpose of this study is to investigate and analyze the geospatial information application system operated by local governments, and to suggest the application of geospatial information application system using unmanned aerial images. As a result of the research, it was found that the functions of existing spatial information application system are concentrated on the public services and it is difficult to share and utilize data between administrative departments. In addition, the utilization of the system using unmanned aerial image has been suggested, and additional functions such as vector display, area calculation, and report generation have been derived to improve the usability of geospatial information application system. If additional functions of spatial information application system are added through further studies in the future, it will be possible to use it as a basic data of field survey and policy decision in related fields. And non-experts will be able to improve the efficiency of work by utilizing highly accurate geospatial information in various fields. 우리나라는 공간정보 활용을 위해 업무별 공간정보 응용 시스템을 구축하고 있으나 정보에 대한 공유 및 활용도가 낮아 국토교통부를 중심으로 공간정보 시스템의 공동활용을 위한 체계 구축에 노력하고 있다. 본 연구는 지방자치단체에서 운영하고 있는 공간정보 응용 시스템 현황을 조사 및 분석하고, 무인항공 영상을 이용한 공간정보 응용 시스템의 공동활용 방안을 제시하고자 하였다. 연구를 통해 기존의 공간정보 응용 시스템의 기능이 대민서비스에 집중되어 있고, 행정부서 간 데이터 공유 및 활용이 어려운 실정임을 파악하였다. 또한, 공간정보 응용 시스템의 공동활용을 위해 무인항공영상 기반의 임차 및 전용면적 차이 산출, 무단 점유지 정보 확인 등 방안을 제시하였으며, 공간정보 응용 시스템 공동활용을 위한 벡터 표시, 면적계산, 보고서 생성 등 추가 기능을 도출하였다. 향후 추가적인 연구를 통해 공간정보 응용 시스템의 기능 추가가 이루어진다면 관련 분야의 현장실태조사 및 정책결정의 기초자료로 활용이 가능할 것이며, 공간정보 분야의 경험이 없는 비전문가도 정확도 높은 공간정보를 다양한 분야에 활용함으로써 업무의 효율성을 높일 수 있을 것이다.

Experimental Evaluation of Unmanned Aerial Vehicle System Software Based on the TMO Model

Hansol Park,Doo-Hyun Kim,Jung-Guk Kim,Chun-Hyon Chang 한국정보과학회 2008 Journal of Computing Science and Engineering Vol.2 No.4

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 lowerlevel 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.

Development of Real Surveillance System Using UGV and UAV

Hee seo Chae(채희서),Do hyeon Lee(이도현) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.11

This study develops the real surveillance system using UGV (Unmanned Ground Vehicle) and UAV (Unmanned Aerial Vehicle) to implement the Air-to-Surface mission. Firstly, the new hardware configurations for UGV and UAV are created. The UGV has camera, radar, 3D Lidar, and the thermal camera with vertical extension unit to detect the enemy. Also, the UGV has the landing and takeoff parts for UAV. The UAV is the quadrotor which has the flight camera and the thermal camera. Moreover, the wireless network system is applied to hardware configurations for the collaborative system between UGV and UAV. It can transfer the video to GCS (Ground Control System). Secondly, the software architecture is designed to address the command, operate the actuator, and run the detection algorithm. This software is installed to a new concept of embedded hardware. Finally, the experiment is performed to check the value of the proposed system. This study can affect the development of the air-to-surface techniques and the change of the air force operating environments.

Integrated Emergency Self-Landing Method for Autonomous UAS in Urban Aerial Mobility

Bingze Xia,Iraj Mantegh,Wenfang Xie 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

Applications of Unmanned Aircraft Systems (UAS) are growing fast in many areas, including Advanced Air Mobility (AAM) which requires the safe integration of aerial vehicles in an airspace that is shared by many other operators. Autonomous or automated UAS will have to a large extent rely on onboard or ground-based guidance and navigation, with no or minimum operator intervention, to perform their operations. Using GPS/GNSS data is a common way of navigation for existing UAS. Safe autonomous UAS operations require the capability for safe landing in case of abnormal situations, such as loss of GPS signal or weather effects. In this paper, a new automatic safe-landing method is proposed that can perform in GPS-denied or degraded environments. A multi-layer method is designed that applies the vehicle’s Inertial Navigation System to navigate to a safe landing zone, and then with an Artificial Intelligence-based approach utilizes optical search and object detection to locate the landing area for landing. A 3D depth camera and fully convolutional neural network method are used to recognize the landing features and obstacles, integrated with Markov Decision Process to guide the aircraft safely without collisions towards the landing zone. A series of simulations are presented to test and validate the proposed system.

Experimental Evaluation of Unmanned Aerial Vehicle System Software Based on the TMO Model

Park, Han-Sol,Kim, Doo-Hyun,Kim, Jung-Guk,Chang, Chun-Hyon Korean Institute of Information Scientists and Eng 2008 Journal of Computing Science and Engineering Vol.2 No.4

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.

UAV용 GCS 및 안테나 추적 시스템 구현

박범순,최일규,김지철,전동익,이상철,오화석,강민영,Park, Bumsoon,Choi, Ilgue,Kim, Jichul,Cheon, Dongik,Lee, Sangchul,Oh, Hwa-Suk,Kang, Minyoung 항공우주시스템공학회 2009 항공우주시스템공학회지 Vol.3 No.4

The first purpose of this study is to develop a GCS(Ground Control System) by using RF(Radio Frequency) wireless communication equipments for UAV(Unmanned Aerial Vehicle). The second goal is to develop an antenna tracking system operating automatically. UAV receives flight data from a RF wireless system. So the role of antenna tracking system is very important to keep good communication state between UAV and GCS. GCS can check flight data and display a aviation state of UAV in real-time. The flight data displayed in real-time by GCS include the latitude, longitude, altitude, speed and so on. Experiments that measure a communication range and reliability are needed to develop a RF wireless communication system.