• Title, Summary, Keyword: 자동착륙

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Automatic Landing Flight Test of TR-60 Tilt Rotor UAV based on RTK GPS (RTK GPS 기반 TR-60 틸트로터무인기 자동착륙 비행시험)

  • Yu, Chang-Seon;Jang, Eun-Yeong;Song, Bok-Seop;Jo, Am;Park, Beom-Jin;Kim, Yu-Sin;Gang, Yeong-Sin;Choe, Seong-Uk;Gu, Sam-Ok
    • 한국항공운항학회:학술대회논문집
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    • pp.30-34
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    • 2016
  • TR-60 틸트로터 무인기는 전장 3m, 최대이륙중량 200kg로서 2013년 2월 자동천이비행에 성공한 비행체로서 현재 해상운용을 위한 함상이착륙기술을 개발 중에 있다. 무인기 해상운용은 육상보다 심한 염무와 바람과 선박의 운동에 의한 착륙대의 이동 등의 열악한 환경에서 이루어져야 한다. 이동이 있는 착륙대와 착륙장 주변의 장애물을 고려하면 정확한 착륙을 위한 정밀한 항법유도가 요구된다. TR-60의 정밀항법유도를 위해서 수cm 단위의 정확도를 갖는 RTK GPS 기반의 정밀상대항법과 이동 착륙장 대한 자동착륙유도를 설계하고 구현함으로 함상자동 이착륙 기술을 개발하였다. 본 논문에서는 RTK GPS 기반의 정밀상대항법과 자동착륙유도에 대한 연구와 함상접근착륙절차에 따른 자동착륙정확도 측정 비행시험 결과를 기술하였다.

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항공기 자동 착륙방식에 대한 비교

  • Yun, Seok-Jun
    • The Journal of Aerospace Industry
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    • pp.89-106
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    • 2003
  • 항공기의 자동 착륙 알고리즘을 위한 고 정밀 유도방식에 IBLS(Integrity Beacons Landing System)나 MLS(Microwave Landing System)와 같은 유도 제어 방식을 사용하여 유인 항공기나 무인 항공기의 유도 착륙에 사용하고 있다. 당 연구에서는 무인항공기의 자동 착륙을 위한 실제적인 요구사항들이 분석되었고, 자동 착륙 유도장치로 IBLS와 MLS가 선택되어 각각의 기능과 특성들이 수학적으로 모델링 되었다. 또한 고전제어와 최적제어의 2가지 방식으로 무인항공기의 자동 착륙을 통제하기 위한 autopilot이 설계되어 그 유효성과 특징들이 분석되었다. IBLS, MLS, autopilot, 그리고 이러한 자동 착륙 유도제어 시스템이 적용되는 대상체인 무인항공기와 대기환경 및 외란에 대한 수학적 모델들은 Simulink와 ANSI C를 사용하여 단위 S/W 모듈들로 작성되었고, 여기에 GUI모듈이 추가되어 하나의 통합 시뮬레이션 S/W가 완성되었다. 모의시험평가는 총 2단계로 구성되었는데, 대기 외란이 주어졌을 때 IBLS와 MLS의 유효성을 1차적으로 검증하였고, 2단계 모의수치실험에서는 MLS 유도센서 방식에 따른 고전제어기 및 최적제어기의 항공기 종 방향 운동에 대한 강인성 비교를 시도하였다.

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Guidance Laws for Aircraft Automatic Landing (항공기 자동착륙 유도 법칙에 관한 연구)

  • Min, Byoung-Mun;No, Tae-Soo;Song, Ki-Jung
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.30 no.5
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    • pp.41-47
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    • 2002
  • In this paper, a guidance law applicable to aircraft automatic landing is proposed and its performance is compared with the conventional ILS-type landing approach. The concept of miss distance, which is commonly used in the missile guidance laws, and Lyapunov stability are effectively combined to obtain the landing guidance law. The new landing guidance law is integrated into the existing controller and is applied to the landing approach and flare phases of landing procedure. Numerical simulation results show that the new landing guidance law is a viable alternative to the conventional strategies that directly control the longitudinal deviation or altitude.

Homing Guidance Law and Spiral Descending Path Design for UAV Automatic Landing (무인항공기 자동착륙을 위한 나선형 강하궤적 및 종말유도 설계)

  • Yoon, Seung-Ho;Kim, H.-Jin;Kim, You-Dan
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.38 no.3
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    • pp.207-212
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    • 2010
  • This paper presents a spiral descending path and a landing guidance law for net-recovery of a fixed-wing unmanned aerial vehicle. The net-recovery landing flight is divided into two phases. In the first phase, a spiral descending path is designed from an arbitrary initial position to a final approaching waypoint toward the recovery net. The flight path angle is controlled to be aligned to the approaching direction at the end of the spiral descent. In the second phase, the aircraft is guided from the approaching waypoint to the recovery net using a pseudo pursuit landing guidance law. Six degree-of-freedom simulation is performed to verify the performance of the proposed landing guidance law.

Side Force Modeling of Landing Gear and Ground Directional Controller Design for UAV (무인기용 착륙장치 측력 모델링 및 지상활주 제어기 설계)

  • Cho, Sung-Bong;Ahn, Jong-Min;Hur, Gi-Bong
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.42 no.12
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    • pp.997-1003
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    • 2014
  • This paper describes modeling process to obtain precise landing gear model which is necessary to design a control law for ground auto-taxi, auto take-off/landing of UAV. In this paper, landing gear side force modeling is studied to complete a landing gear model of UAV. Side force modeling is performed by calculating cornering angle including steering angle. And ground directional controller is designed by using nose wheel steering and rudder steering at the same time to control course angle error. Accuracy of landing gear side force modeling and ground directional controller is proved by comparing of auto-taxi test results with simulation results.

Design of Deep Learning-Based Automatic Drone Landing Technique Using Google Maps API (구글 맵 API를 이용한 딥러닝 기반의 드론 자동 착륙 기법 설계)

  • Lee, Ji-Eun;Mun, Hyung-Jin
    • Journal of Industrial Convergence
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    • v.18 no.1
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    • pp.79-85
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    • 2020
  • Recently, the RPAS(Remote Piloted Aircraft System), by remote control and autonomous navigation, has been increasing in interest and utilization in various industries and public organizations along with delivery drones, fire drones, ambulances, agricultural drones, and others. The problems of the stability of unmanned drones, which can be self-controlled, are also the biggest challenge to be solved along the development of the drone industry. drones should be able to fly in the specified path the autonomous flight control system sets, and perform automatically an accurate landing at the destination. This study proposes a technique to check arrival by landing point images and control landing at the correct point, compensating for errors in location data of the drone sensors and GPS. Receiving from the Google Map API and learning from the destination video, taking images of the landing point with a drone equipped with a NAVIO2 and Raspberry Pi, camera, sending them to the server, adjusting the location of the drone in line with threshold, Drones can automatically land at the landing point.

A Study on the Control Methods for Aircraft Automatic Landing System (항공기 자동착륙시스템을 위한 제어기법에 관한 연구)

  • Jung, Do-Hee;Eun, Hee-Bong
    • Journal of the Korean Society for Aviation and Aeronautics
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    • v.2
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    • pp.81-99
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    • 1994
  • 최근 항공기 착륙시스템을 자동화하려는 노력이 활발히 진행되고 있다. 제어이론의 발달에 따라 최적제어, 적응제어, 지능제어와 같은 최신제어이론을 적용하여 Blind Landing System의 개발에 박차를 가하고 있다. 본 연구에서는 ILS로부터 나오는 신호를 받아 정해진 Glide Path를 추종하고 또한 일정고도에 도달하면 플래어하여 안전하게 접지할 수 있도록 하는 제어시스템을 개발하고자 항공기의 자동착륙시스템을 위한 제어기법들을 연구하였다.

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A Study on the Image-based Automatic Flight Control of Mini Drone (미니드론의 영상기반 자동 비행 제어에 관한 연구)

  • Sun, Eun-Hey;Luat, Tran Huu;Kim, Dongyeon;Kim, Yong-Tae
    • Journal of Korean Institute of Intelligent Systems
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    • v.25 no.6
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    • pp.536-541
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    • 2015
  • In this paper, we propose a the image-based automatic flight control system for the mini drone. Automatic flight system with a camera on the ceiling and markers on the floor and landing position is designed in an indoor environment. Images from the ceiling camera is used not only to recognize the makers and landing position but also to track the drone motion. PC sever identifies the location of the drone and sends control commands to the mini drone. Flight controller of the mini drone is designed using state-machine algorithm, PID control and way-point position control method. From the, The proposed automatic flight control system is verified through the experiments of the mini drone. We see that known makers in environment are recognized and the drone can follows the trajectories with the specific ㄱ, ㄷ and ㅁ shapes. Also, experimental results show that the drone can approach and correctly land on the target positions which are set at different height.

A Study on Automatic Precision Landing for Small UAV's Industrial Application (소형 UAV의 산업 응용을 위한 자동 정밀 착륙에 관한 연구)

  • Kim, Jong-Woo;Ha, Seok-Wun;Moon, Yong-Ho
    • 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.

A Study on the Allowances of Aircraft Landing Distance (항공기 착륙거리의 여유분 산정에 관한 연구)

  • Noh, Kun-Soo;Kim, Woong-Yi
    • The Journal of Advanced Navigation Technology
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    • v.17 no.3
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    • pp.279-284
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    • 2013
  • Among the phases of flight operations pilots feel much pressure in landing segment. There is a number of factors affecting landing safety while pilots reduce aircraft speeds and make a touchdown and stop completely. If runway length is sufficient for landing, there maybe is no problem. But it is not the case all the time. So it is necessary to confirm whether landing performance is within limits or not. Required landing distance is actual landing distance demonstrated by flight test pilot plus allowances for average airline pilots. FAR(Federal Aviation Regulations) AFM certification is based upon manual landing for dry and wet runway. Other runway conditions are not the certification basis. JAR dictates even contaminated/slippery runway is included by prescribed allowances. Automatic landing is not certification basis, so actual landing distances are provided. In this paper I would like to analyze distance allowances included in each type of runway condition. In addition there is no regulation about allowances for specific runway condition, I would suggest adequate allowances for that case.