가상계측기반 실시간 영상유도 자동비행 시스템 구현 및 무인 로터기를 이용한 비행시험

다국어 초록 (Multilingual Abstract)

This paper investigates the implementation and flight test of realtime vision guided autopilot system based on virtual instrumentation platform. A graphical design process via virtual instrumentation platform is fully used for the image processing, communication between systems, vehicle dynamics control, and vision coupled guidance algorithms. A significatnt ojective of the algorithm is to achieve an environment robust autopilot despite wind and an irregular image acquisition condition. For a robust vision guided path tracking and hovering performance, the flight path guidance logic is combined in a multi conditional basis with the position estimation algorithm coupled with the vehicle attitude dynamics. An onboard flight test equipped with the developed realtime vision guided autopilot system is done using the rotary UAV system with full attitude control capability. Outdoor flight test demonstrated that the designed vision guided autopilot system succeeded in UAV"s hovering on top of ground target within about several meters under geenral windy environment.

목차 (Table of Contents)

• I. 서론
• II. Hardware의 기능 및 구성
• III. Software의 구성
• IV. 비행 시험
• V. 결론
• 참고문헌

참고문헌 (Reference)

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2 김성삼, "영상지도제작을 위한 항공 비디오 영상 등록" 한국측량학회 25 (25): 279-287, 2007

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4 Reg Austin, "Unmanned Aircraft Systems: UAVS Design, Development and Deployment" John Wiley and Sons Ltd. 2009

5 National Instruments, "Single-Board RIO OEM Devices, User guide"

6 National Instruments, "NI 17xx Smart Camera, User Manual"

7 B. Lee, "LabVIEW based development of guidance and control system for rotor unmanned aerial vehicle" 562-565, 2010

8 H. Shin, "Concept and perspective of UAV and its application possibility to transportation" 11 (11): 64-71, 2004

9 K. Hanahara, "A circle-detection algorithm simulating wave propagation" 4 (4): 97-111, 1991