• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.1
• /
• pp.24-30
• /
• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• Korean Journal of Environment and Ecology
• /
• v.3 no.1
• /
• pp.28-41
• /
• 1989

A survey of Hongryu-Dong and Chi-in district. Gaya National Park, was conducted using 40 sample sites of 500$m^2$ size. TWINSPAN classification confirmed a complex pattern of both local and geographical variation in the vegetation: Dry and wet community types. Within dry community types, two floristic assocation of Pinus densiflora were defined according to local variation. Within wet community types. two floristic association were defined according to altitude. Those associations can be further subdivided floristically into eight subassociation. The vegetation pattern presented by DCA ordination corresponds to one of TWINSPAN at the first two division. The DCA ordination was successful in separating Pinus densiflora from broad leaf forest. Ordination of samples produced arrangements reflectly environmental gradient of soil. The correlation between the first axe of DCA and soil moisture, soil acid, altitude, maximum species diversity and species diversity was significantly negative. The similarity index between each community was very low level.

• Journal of Environmental Science International
• /
• v.19 no.10
• /
• pp.1257-1269
• /
• 2010

In this study the AWS was installed in three areas to analyze creation and characteristics of local wind circulation through observation. According to the result, in night time when mountain wind is well developed showed temperature in A area located in Dalbigol valley and B area adjacent with the valley was lower than C area located in the lowland of the center of city by $1.5\sim4^{\circ}C$. The wind speed was also shown two times stronger than C area. In addition, in terms of wind direction, A and B areas showed east wind consistently according to topographic shapes of Dalbigol valley with high altitude and residential sites of lowland with low altitude. Although the C area didn't show big changes in wind direction due to the effects of city structures, east wind is often seen so mountain wind from Dalbigol valley is found to have an effect at least. Through the analysis of temperature, wind speed, and wind direction, nigh time showed relatively cold mountain wind blew following Dalbigol valley, throughout residential sites and to the center of city with lowland. During the daytime, the temperature in the city with lowland and residential sites is constantly higher than A area located in Dalbigol valley, and strong wind speed following Dalbigol valley, and three areas have $200\sim300^{\circ}$ of main wind direction, so west valley wind throughout the city with lowland and following Dalbigol is clearly formed.

• Journal of Advanced Navigation Technology
• /
• v.22 no.4
• /
• pp.295-301
• /
• 2018

Recently, GPS(Global Positioning System) array antenna technology is generally used and widely adopted as a national infrastructure structure and aero-vehicles for protection the GPS signal reception. Until now, the 2-dimensional planar array is universally used for its applications in the array antenna signal processing, however relatively higher altitude air vehicles such as UAV experiences additional null zones induced by low altitude GPS interferences which is located in a symmetry zone of antenna horizontal plane and this could make the receiving antenna pattern coverage reduction. In this paper, we improved 20% of the beam pattern receiving performance and 13 dB correlation value improvement by eliminating the interference mirror images.

• Journal of the Korea Convergence Society
• /
• v.10 no.11
• /
• pp.9-14
• /
• 2019

In modern society drones are actively utilized in the fields of security, defense, agriculture, communication and so on. Smart technology and artificial intelligence software have been developed with convergence, and the field of use is expected to expand further. On the point of the excellent performance of drones one of the essential technologies is the wireless communication that make the ground facility receive the video streaming obtained by the drones in the air. In the research the concept of communication region is proposed to cover the both the low altitude region for Wi-Fi communication and the high altitude region for LTE communication for the sake of video transmission. Also the hybrid communication structure is designed along the proposed concept and the proposed system is implemented as a communication system in the small size which can be mounted in a small size of drone. It is confirmed that the proposed system contains the effectiveness by showing the ability to successfully transmit HD video streaming in the range of 500 meters and the transfer time between two different communication systems is measured in 200msec by the experiments.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2008.03a
• /
• pp.690-699
• /
• 2008

In this paper a conventional approach for design and analysis of subsonic air vehicle is used. First of all subsonic aerodynamic coefficients are calculated using Computational Fluid Dynamics(CFD) tools and then wind-tunnel model was developed that integrates vehicle components including control surfaces and initial data is validated as well as refined to enhance aerodynamic efficiency of control surfaces. Experimental data and limited computational fluid dynamics solutions were obtained over a Mach number range of 0.5 to 0.8. The experimental data show the component build-up effects and the aerodynamic characteristics of the fully integrated configurations, including control surface effectiveness. The aerodynamic performance of the fully integrated configurations is comparable to previously tested subsonic vehicle models. Mathematical model of the dynamic equations in 6-Degree of Freedom(DOF) is then simulated using MATLAB/SIMULINK to simulate trajectory of vehicle. Effect of altitude on range, Mach no and stability is also shown. The approach presented here is suitable enough for preliminary conceptual design. The trajectory evaluation method devised accurately predicted the performance for the air vehicle studied. Formulas for the aerodynamic coefficients for this model are constructed to include the effects of several different aspects contributing to the aerodynamic performance of the vehicle. Characteristic parameter values of the model are compared with those found in a different set of similar air vehicle simulations. We execute a set of example problems which solve the dynamic equations to find the aircraft trajectory given specified control inputs.

• Journal of the Korean Society of Environmental Restoration Technology
• /
• v.21 no.6
• /
• pp.71-82
• /
• 2018

This study was conducted to provide ecological basic data that use to establish environmental conditions for cultivation of wild vegetables in 2016-2018. Therefore, we investigated the vegetation structure and the correlation between the community structure and the environmental factors for natural habitats of wild vegetables(Aster glehni, Allium ochotense, and Aruncus sylvester) distributed in Ulleungdo. As a result of population and gradient analysis, the vegetation was classified into Aster glehni community, Allium ochotense community, and Aruncus sylvester community. We confirmed that the classification by population analysis was consistent with that by TWINSPAN method, suggesting that they were complemented each other. The importance value of Aster glehni was the highest in all communities, followed by Aruncus sylvester, Allium ochotense, Hydrangea petiolaris, Dryopteris crassirhizoma, Asperula ldorata, Phryma leptostachya var. asiatica, Disporum viridrescens, Hedera rhombea, Anthriscus sylvestris, and Hepatica maxima. According to the results of DCCA ordination analysis, among those communities, the Aster glehni community was distributed in soil where the nutrition including T-N and O.M. were intermediate. The Allium ochotense community was distributed on the a little high northern slope at the highest altitude where the CEC and O.M. were the highest, and other nutrition and pH were low. The Aruncus sylvester was distributed on high slope and altitude on which the amount of exchangeable cation such as $Ca^{{+}{+}}$, $Mg^{{+}{+}}$ and pH were high, and the CEC, $P_2O_5$, and O.M. were the lowest.

• Advances in aircraft and spacecraft science
• /
• v.6 no.3
• /
• pp.239-256
• /
• 2019

This study develops a dual purpose: i) evaluating the effects of two different Mars atmosphere models (NASA Glenn and GRAM-2001) on aerodynamics of a capsule (Pathfinder) entering the Mars atmosphere, ii) verifying the feasibility of evaluating the ambient density and pressure by means of the methods by McLaughlin and Cassanto, respectively and therefore to re-build the values provided by the models. The method by McLaughlin relies on the evaluation of the capsule drag coefficient, the method by Cassanto relies on the measurement of pressure at a point on the capsule surface in aerodynamic shadow. The study has been carried out computationally by means of: i) a code integrating the equations of dynamics of the capsule for the computation of the entry trajectory, ii) a DSMC code for the solution of the flow field around the capsule in the altitude interval 50-100 km. The models show consistent differences at altitudes higher than about 40 km. It seems that the GRAM-2001 model is more reliable than the NASA Glenn model. In fact, the NASA Glenn model produces, at high altitude, temperatures that seem to be too low compared with those from the GRAM-2001 model and correspondingly very different aerodynamic conditions in terms of Mach, Reynolds and Knudsen numbers. This produces pretty different capsule drag coefficients by the two models as well as pressure on its surface, making not feasible neither the method by McLaughlin nor that by Cassanto, until a single, reliable model of the Mars atmosphere is not established. The present study verified that the implementation of the Cassanto method in Mars atmosphere should rely (such as it is currently) on pressure obtained experimentally in ground facilities.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.50 no.7
• /
• pp.479-487
• /
• 2022

This paper presents the control and guidance algorithm of a KAU-SPUAV(Korea Aerospace University - Solar Powered Unmanned Aerial Vehicle) which is designed and developed in Korea Aerospace University. Aerodynamic coefficients are calculated using the vortex-lattice method and applied to the aircraft's six degrees of freedom equation. In addition, the thrust and torque coefficients of the propeller are calculated using the blade element theory. An altitude controller using thrust was used for longitudinal control of KAU-SPUAV to glide efficiently when it comes across the upwind. Also describes wind estimation technic for considering wind effect during flight. Finally, introduce some guidance laws for endurance, mission and coping with strong headwinds and autonomous landing.

• Journal of Advanced Navigation Technology
• /
• v.26 no.2
• /
• pp.91-98
• /
• 2022

Unmanned aircraft system traffic management (UTM) service for the safe operation of unmanned aerial vehicles (UAV) such as drones using commercial communication networks such as long-term evolution (LTE) and 5G in low-altitude areas of 150m or less is being studied in several countries. In this paper, whether it is possible to secure three-dimensional (3D) coverage for UTM service using the existing LTE cellular network for terrestrial usersis analyzed through simulations. The practicality in the real environment is confirmed by performing performance analysis in the actual topographical environment and the LTE base station layouts in Korea. According to the analysis results, as the altitude increases, the number of line-of-sight (LOS) interference base stations increases, resulting in a worse signal to interference plus noise ratio (SINR), but coverage is secured except for the limited areas within 150m. was confirmed to be possible. In addition, it is confirmed that a significant proportion of outage areas could be reduced by placing a small number of additional base stations for the outage area.