• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1253-1259
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• 2008

This paper presents a landing controller and guidance law for net-recovery of fixed-wing unmanned aerial vehicles. A linear quadratic controller was designed using the system identification result of the unmanned aerial vehicle. A pursuit guidance law is applied to guide the vehicle to a recovery net with imaginary landing points on the desired approach path. The landing performance of a pure pursuit guidance, a constant pseudo pursuit guidance, and a variable pseudo pursuit guidance is compared. Numerical simulation using an unmanned aerial vehicle model was performed to verify the performance of the proposed landing guidance law.

• 반도체디스플레이기술학회지
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• 제17권1호
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• pp.88-92
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• 2018

Currently drone industry has become one of the fast growing markets and the technology for unmanned aerial vehicles are expected to continue to develop at a rapid rate. Especially small unmanned aerial vehicle systems have been designed and utilized for the various field with their own specific purposes. In these fields the path planning problem to find the shortest path between two oriented points is important. In this paper we introduce a path planning strategy for an autonomous flight of unmanned aerial vehicles through reinforcement learning with self-positioning technique. We perform Q-learning algorithm, a kind of reinforcement learning algorithm. At the same time, multi sensors of acceleraion sensor, gyro sensor, and magnetic are used to estimate the position. For the functional evaluation, the proposed method was simulated with virtual UAV environment and visualized the results. The flight history was based on a PX4 based drones system equipped with a smartphone.

• 항공우주정책ㆍ법학회지
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• 제35권3호
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• pp.65-93
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• 2020

정보통신기술 발전과 함께 4차 산업혁명 시대에 돌입하면서 신성장 산업으로 무인항공기 산업이 주목받기 시작했다. 소형 드론에서부터 대형 무인항공기까지 규모와 비행 공역의 범위도 다양해지면서 선진국(미국, 유럽)은 유인항공기와 무인항공기의 통합 운용에 대한 계획을 수립하고 있다. 또한, ICAO에서는 무인항공기의 국제기준 및 권고사항 수립을 하기 위해 관련 부속서 개정 작업을 수행하고 있다. 우리나라도 앞으로 도래할 유인항공기와 무인항공기의 통합 운영에 대비가 필요하여 이를 위해 무인항공기 안전운항에 대한 국내 제도 현황을 검토하고 정비해야 한다. 본 연구는 ICAO에서 논의하고 있는 원격조종항공기시스템(Remotely Piloted Aircraft System; RPAS) 관련 부속서의 개정사항들에 대해 분석하고 기존의 항공안전법과 비교하여 무인항공기 안전운항을 위한 항공안전법의 개정방향을 제시하였다.

• 항공우주시스템공학회지
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• 제13권3호
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• pp.48-55
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• 2019

본 논문은 무인항공기 체계(UAS; Unmanned Aerial Systems)의 고장이력관리장비(FHME; Fault History Management Equipment)에 관한 연구를 다룬다. 무인항공기 체계는 비행안전을 위하여 고신뢰성 설계를 기반으로 다양한 전자장비를 탑재하고 있으며, 이에 따른 신속한 고장탐지가 필요하여 각 탑재장비는 BIT(Built-In-Test) 기능을 보유한다. 이러한 BIT 정보를 지상에서 시현, 저장, 관리가 가능하도록 하기 위하여 고장이력관리장비를 개발하였다. 따라서 본 논문에서는 고장이력관리장비의 개요 및 개발 요구사항, 설계 결과, 검증 시험 결과에 대해 기술한다.

• 시스템엔지니어링학술지
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• 제18권1호
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• pp.58-65
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• 2022

An application case of systems engineering (SE) processes for the small unmanned aerial vehicle (UAV) development project, which was funded by the Korean government during June 2017 ~ August 2020, is briefly presented in this paper. From the beginning to the end of the project, SE processes had been applied and managed by simple and intuitive aspects for the small/medium business companies joined with insufficient experiences of SE. And the specific considerations of the processes were focused to the missions of disaster and public safety purposes required from the government, such as identification, patrol, fire, rescue, etc. As a result, the project applied by the tailored SE processes had been rated of a good and higher accomplishment on the final evaluation, and then the related several programs were prepared successively for the other opportunities.

• International journal of advanced smart convergence
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• 제9권3호
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• pp.207-214
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• 2020

Currently, the operation of unmanned aerial vehicle (UAV) is regulated to be able to fly only within the visible range, but in recent years, the needs for operation in the invisible area, in the urban area and at night have increased. In order to operate UAVs in the invisible area, at night, and in the urban area, a flight path for UAVs must be prepared like those operated by manned aircraft, and for this, it is necessary to establish an unmanned aircraft system traffic management (UTM). In order to establish the UTM, information on the minimum separation distance to prevent collisions with UAVs and buildings is required, and accordingly, information on the navigation performance of UAVs is required. In order to analyze the navigation performance of an UAV, total system error (TSE), which is the difference between the planned flight path and the actual location of the UAV, is required. If the collected data are insufficient and classification according to integrity, independence, and direction is not performed, accurate navigation performance is not derived. In this paper, propose a navigation performance analysis method of UAV that is derived TSE using flight data and modeled with normal distribution, analyze performance.

• 제어로봇시스템학회논문지
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• 제10권2호
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• pp.131-138
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• 2004

Automatic flight control system (AFCS) for a low-cost unmanned aerial vehicle is described in this paper. Development process and block diagram of the AFCS are introduced. The flight control law for longitudinal and lateral channel autopilot is designed using optimization process. In this procedure, the performance index is composed of desired location of closed loop system poles and H$_2$norm of the resultant flight control system. This procedure is applied to the autopilot design of an unmanned target vehicle. Performance of the AFCS is evaluated by processor-in-the-loop simulation test and flight test. These results show that the AFCS has acceptable performance fur low cost UAV.

• 제어로봇시스템학회논문지
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• 제12궈1호
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• pp.78-84
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• 2006

This paper describes UAV (Unmanned Aerial Vehicle) control system which employs PC104 modules. It is controlled by application program based on Linux OS. This application consists of both Linux device driver in kernel-space and user application in user-space. In order to get data required in the unmanned flight, external devices are connected to PC104 modules. We explain how Linux device drivers deal with data transmitted by external devices and we account for how the user application controls UAV on the basis of data processed in the device driver as well. Furthermore we look into the role of GCS (Ground Control Station) which is to monitor the state of UAV.

• 항공우주시스템공학회지
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• 제13권3호
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• pp.40-47
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• 2019

본 논문은 무인항공기 체계(UAS; unmanned aerial system)의 비행체 탑재장비 및 지상에서 운용하는 장비의 연동 검증을 위한 체계통합실험실(SIL; system integration laboratory) 및 체계통합시험(SIT; system integration test)의 환경 구축 및 이를 통한 검증방법에 대하여 다룬다. SIL 내 구축된 지상통제체계, 데이터링크체계, 비행체 탑재장비, 임무장비(EO/IR, SAR) 등과 같은 부체계간의 인터페이스 환경 및 모의 비행을 통한 체계 운용로직의 검증방법과 실험실 레벨에서의 검증이 완료된 각 부체계를 실제 시험 환경에서 검증하는 방법에 대해 기술한다.

• 융합정보논문지
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• 제9권11호
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• pp.118-124
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• 2019

무인항공기의 기술이 많이 보급화 되면서 다양한 종류의 무인항공기 및 임무 다변화에 따라 다양한 종류의 임무 장비가 개발되고 있다. 그중에서도 국내에서는 소형 무인항공기가 활발히 개발되고 있으며 소형 무인기의 효과적인 조정을 위한 비행제어 시스템과 임무 장비의 연동 시스템이 필요하고, 또한 데이터를 처리하여 지상 운용시스템으로 전송을 위한 효율적인 통신장비의 구성 및 운용이 요구되고 있다. 본 논문에서는 소형 무인항공기의 임무 및 제어를 위하여 비행제어 시스템과 임무 장비 제어 시스템을 이용한 임무 장비의 확장, 데이터 링크 통합 및 통신장비 운용에 대하여 서술하였으며 이를 통하여 효과적인 소형 무인항공기의 운용에 대하여 정리하였다.