Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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Deploy Position Determination for Accurate Parachute Landing of a UAV

무인기의 정밀 낙하산 착륙을 위한 전개지점 결정

  • Kim, Inhan (Department of Aerospace Engineering, Inha University) ;
  • Park, Sanghyuk (Department of Aerospace Engineering, Inha University) ;
  • Park, Woosung (Department of Aerospace Engineering, Inha University) ;
  • Ryoo, Chang-Kyung (Department of Aerospace Engineering, Inha University)
  • Received : 2013.01.04
  • Accepted : 2013.05.31
  • Published : 2013.06.01
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Abstract

In this paper, we suggest how to determine the parachute deploy position for accurate landing of a UAV at a desired position. The 9-DOF dynamic modeling of UAV-parachute system is required to construct the proposed algorithm based on neural network nonlinear function approximation technique. The input and output data sets to train the neural network are obtained from simulation results using UAV-parachute 9-DOF model. The input data consist of the deploy position, UAV's velocity, and wind velocity. The output data consist of the cross range and down range of landing positions. So we predict the relative landing position from the current UAV position. The deploy position is then determined through distance compensations for the relative landing positions from the desired landing position. The deploy position is consistently calculated and updated.

본 논문에서는 요구 위치에 정밀 착륙을 위한 낙하산 전개지점 선정 기법을 제안한다. 무인기-낙하산 시스템을 위해 9-DOF 운동 모델을 구성하였고, 신경회로망을 학습시키기 위한 입출력 데이터 셋을 구성하였다. 입력 데이터 셋은 현재 항공기 위치, 속도정보 및 바람 정보로 구성되어 있고, 출력 데이터 셋은 9-DOF 운동 모델을 시뮬레이션 하여 획득한 착륙 위치 정보이다. 이를 이용하여 nonlinear function approximator를 구성함으로써 현재 위치로부터 상대적인 착륙 지점을 예측할 수 있고, 예측된 착륙 지점과 요구 착륙 지점과의 상대적인 거리 오차를 계산하여 이를 보상해줌으로써 낙하산 전개 지점을 결정할 수 있다.

Keywords

References

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  1. 9-DOF Modeling and Turning Flight Simulation Evaluation for Parachute vol.17, pp.9, 2016, https://doi.org/10.5762/KAIS.2016.17.9.688