• Journal of the Korean Society for Aviation and Aeronautics
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• v.29 no.2
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• pp.78-83
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• 2021

In modern society, the use of small rotary-wing unmanned aerial vehicles such as drones is increasing. As the military considers tactics using drones, demand for drones is increasing. However, there is still no airworthiness certification standard for drones for safety. In this paper, we proposed airworthiness certification standards for small rotorcraft unmanned aerial vehicles based on CS-LURS in Europe and STANG-4703, 4738 (draft) of the North Atlantic Treaty Organization. In addition, airworthiness certification standards have been strengthened through the case of unmanned aerial vehicle accidents in operation by the Korean military. The airworthiness certification standards for small rotary-wing unmanned aerial vehicles will be supplemented through a demonstration project.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.30 no.1
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• pp.38-43
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• 2022

As the use of unmanned aerial vehicles increases, in order to expand the operability of the unmanned aerial vehicle, it is essential to develop an unmanned aerial vehicle traffic management system, and to establish the system, it is necessary to analyze the integrated navigation performance of the unmanned aerial vehicle to be operated. Integrated navigation performance is affected by various factors such as the type of unmanned aerial vehicle, flight environment, and guidance law algorithm. In addition, since a large amount of flight data is required to obtain high-reliability analysis results, efficient and consistent flight scenarios are required. In this paper, a flight scenario that satisfies the requirements for integrated navigation performance analysis of rotary and fixed-wing unmanned aerial vehicles was designed and verified through flight experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1005-1007
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• 2005

A Nonlinear approach to control of Small Scale Rotary Wing Unmanned Aerial Vehicle (R-UAV) is presented. Using Backstepping, a globally stabilizing control law is derived. We derive backstepping control law for angle of attack and sideslip control. The inherent nonlinear nature of the system are considered here which helps in naturally stabilizing without extensive external effort. Thus, the resulting control law is much simpler than if the feedback linearization had been used.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.8
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• pp.156-163
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• 2002

• The Journal of Engineering Geology
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• v.28 no.4
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• pp.701-714
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• 2018

The purpose of this study is to show the possibility of 3-dimensional modeling of open-pit limestone mine by using a rotary-wing unmanned aerial vehicle, a drone, and to estimate the amount of mining before and after mining of limestone by explosive blasting. Analysis of the image duplication of the mine has shown that it is possible to achieve high image quality. Analysis of each axis error at the shooting position after analyzing the distortions through camera calibration was shown the allowable range. As a result of estimating the amount of mining before and after explosive blasting, it was possible to estimate the amount of mining of a wide range quickly and accurately in a relatively short time. In conclusion, it is considered that the drone of a rotary-wing unmanned aerial vehicle can be usefully used for the monitoring of open-pit limestone mines and the estimation of the amount of mining. Furthermore, it is expected that this method will be utilized for periodic monitoring of construction sites and road slopes as well as open-pit mines in the future.

• Tunnel and Underground Space
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• v.25 no.6
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• pp.527-533
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• 2015

This study performed an on-site demonstration of the topographic surveying technique at a large-scale open-pit limestone mine in Korea using a fixed-wing unmanned aerial vehicle (UAV, Drone, SenseFly eBee). 288 sheets of aerial photos were taken by an automatic flight for 30 minutes under conditions of 300 m altitude and 12 m/s speed. Except for 37 aerial photos in which no keypoint was detected, 251 aerial photos were utilized for data processing including correction and matching, then an orthomosaic image and digital surface model with 7 cm grid spacing could be generated. A comparison of the X, Y, Z-coordinates of 4 ground control points measured by differential global positioning system and those determined by fixed-wing UAV photogrammetry revealed that the root mean squared errors were around 15 cm. Because the fixed-wing UAV has relatively longer flight time and larger coverage area than rotary-wing UAVs, it can be effectively utilized in large-scale open-pit mines as a topographic surveying tool.

• Tunnel and Underground Space
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• v.26 no.1
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• pp.24-31
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• 2016

Recently, many studies have been conducted to use fixed-wing and rotary-wing unmanned aerial vehicles (UAVs, Drones) for topographic surveying in open-pit mines. Because the fixed-wing and rotary-wing UAVs have different characteristics such as flight height, speed, time and performance of mounted cameras, their results of topographic surveying at a same site need to be compared. This study selected a construction site in Yangsan-si, Gyeongsangnam-do, Korea as a study area and compared the topographic surveying results from a fixed-wing UAV (SenseFly eBee) and a popular rotary-wing UAV (DJI Phantom2 Vision+). As results of data processing for aerial photos taken from eBee and Phantom2 Vision+, orthomosaic images and digital surface models with about 4 cm grid spacing could be generated. Comparisons of the X, Y, Z-coordinates of 7 ground control points measured by differential global positioning system and those determined by eBee and Phantom2 Vision+ revealed that the root mean squared errors of X, Y, Z-coordinates were around 10 cm, respectively.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.6
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• pp.555-562
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• 2021

Recently, in the field of geospatial information construction, unmanned aerial vehicles have been increasingly used because they enable rapid data acquisition and utilization. In this study, photogrammetry was performed using fixed-wing, rotary-wing, and VTOL (Vertical Take-Off and Landing) unmanned aerial vehicles, and geospatial information was constructed using two types of unmanned aerial vehicle LiDAR (Light Detection And Ranging) sensors. In addition, the accuracy was evaluated to present the utility of spatial information constructed through unmanned aerial photogrammetry and LiDAR. As a result of the accuracy evaluation, the orthographic image constructed through unmanned aerial photogrammetry showed accuracy within 2 cm. Considering that the GSD (Ground Sample Distance) of the constructed orthographic image is about 2 cm, the accuracy of the unmanned aerial photogrammetry results is judged to be within the GSD. The spatial information constructed through the unmanned aerial vehicle LiDAR showed accuracy within 6 cm in the height direction, and data on the ground was obtained in the vegetation area. DEM (Digital Elevation Model) using LiDAR data will be able to be used in various ways, such as construction work, urban planning, disaster prevention, and topographic analysis.

• Tunnel and Underground Space
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• v.25 no.5
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• pp.462-469
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• 2015

This study carried out a topographic survey at a small-scale open-pit limestone mine in Korea (the Daesung MDI Seoggyo office) using a popular rotary-wing unmanned aerial vehicle (UAV, Drone, DJI Phantom2 Vision+). 89 sheets of aerial photos could be obtained as a result of performing an automatic flight for 30 minutes under conditions of 100m altitude and 3m/s speed. A total of 34 million cloud points with X, Y, Z-coordinates was extracted from the aerial photos after data processing for correction and matching, then an orthomosaic image and digital surface model with 5m grid spacing could be generated. A comparison of the X, Y, Z-coordinates of 5 ground control points measured by differential global positioning system and those determined by UAV photogrammetry revealed that the root mean squared errors of X, Y, Z-coordinates were around 10cm. Therefore, it is expected that the popular rotary-wing UAV photogrammetry can be effectively utilized in small-scale open-pit mines as a technology that is able to replace or supplement existing topographic surveying equipments.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.3
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• pp.541-550
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• 2021

While open-air compost has value as a source of nutrients for crops in agricultural land, it acts as a pollution that adversely affects the environment during rainfall, and management is required. In this study, it was intended to analyze the accuracy of calculating open-air compost volume using fixed-wing UAV (unmanned aerial vehicle) capable of acquiring a wide range of images and automatic path flights and to identify the possibility of utilization. In order to evaluate the accuracy of calculating the three open-air compost volume, ground LiDAR surveys and precision surveys using a rotary UAV were performed. and compared with the open-air compost volume acquired through a fixed-wing UAV. As a result of comparing the calculation of open-air compost volume based on the ground LiDAR, the error rate of the rotary-wing was estimated to be ±5%, and the error rate of fixed-wing was -15 ~ -4%. one of three open-air compost volume calculated by fixed-wing was underestimated as about -15 %, but the deviation of the open-air compost volume was 2.9 m3, which was not significant. In addition, as a result of periodic monitoring of open-air compost using fixed-wing UAV, changes in the volume of open-air compost with time could be confirmed. These results suggested that efficient open-air compost monitoring and non-point pollutants in agricultural for a wide range using fixed-wing UAV is possible.