KR102897500B1 - Apparatus and method for tracking moving path of an unmanned aerial vehicle - Google Patents

Abstract

A device and method for tracking a path of an unmanned aerial vehicle (UAV) are disclosed. The device and method for tracking a path of an unmanned aerial vehicle (UAV) can provide a highly accurate, highly efficient, and highly reliable device and method for tracking a path of an unmanned aerial vehicle (UAV) that can precisely track a path of an unmanned aerial vehicle (UAV) without time constraints by determining whether the UAV deviates from the path in real time using two path setting points on the set path of the UAV and location information of the UAV.

Description

{APPARATUS AND METHOD FOR TRACKING MOVING PATH OF AN UNMANNED AERIAL VEHICLE}

The present invention relates to a path tracking device and method for an unmanned aerial vehicle, and more particularly, to a path tracking device and method for determining whether an unmanned aerial vehicle deviates from its path.

Recently, the use of unmanned aerial vehicles (UAVs), such as drones, has been increasing. While UAVs were initially developed for military purposes, they are now being applied to a variety of fields, including weather management and rescue operations, leveraging their location tracking capabilities.

Meanwhile, unmanned aerial vehicles (UAVs) have the disadvantage of driving off a preset route or having errors at the waypoint due to GPS failure, bad weather, or radio interference errors with other communication devices such as jamming.

In addition, unmanned aerial vehicles (UAVs) have the disadvantage of reducing the reliability of location results by driving indiscriminately outside of the set path due to hacking by illegal UAVs with malicious purposes.

Accordingly, the development of technology to track the real-time path of unmanned aerial vehicles (UAVs) is essential.

The purpose of the present invention to solve the above problems is to provide a path tracking device for an unmanned aerial vehicle with high precision, high efficiency and high reliability.

In addition, another object of the present invention to solve the above problems is to provide a high-precision, high-efficiency, and high-reliability drone path tracking method.

According to one embodiment of the present invention for achieving the above object, a device for tracking a path of an unmanned aerial vehicle (UAV) includes a memory and a processor for executing at least one command stored in the memory, wherein the at least one command includes a command for checking a path of an unmanned aerial vehicle (UAV), a command for checking position coordinates of the UAV, and a command for determining whether the UAV deviates from a path, wherein the command for determining whether the UAV deviates from a path includes a command for calculating a first vector and a second vector at a first point and a second point within a set path of the UAV, a command for calculating a comparison vector by subtracting a vertical vector value perpendicular to a straight line connecting the first point and the second point from a position vector according to the position coordinates of the UAV, and a command for determining whether the UAV deviates from a path by comparing an absolute value of the comparison vector with a threshold setting value.

The path tracking device and method of an unmanned aerial vehicle (UAV) according to an embodiment of the present invention can provide a high-precision, high-efficiency, and high-reliability path tracking device and method of an unmanned aerial vehicle (UAV) that can precisely track the path of an unmanned aerial vehicle (UAV) without time constraints by determining whether the UAV deviates from the path in real time using two path setting points on the set path of the UAV and the location information of the UAV.

Figure 1 is a block diagram illustrating a path tracking device of an unmanned aerial vehicle according to an embodiment of the present invention.
Figure 2 is a flowchart of a method for tracking a path of an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 3 is a graph for explaining a step of determining whether an unmanned aerial vehicle (UAV) deviates from a path among the path tracking methods according to an embodiment of the present invention.
FIG. 4 is a flowchart for explaining a step of determining whether an unmanned aerial vehicle (UAV) deviates from a path among the path tracking methods according to an embodiment of the present invention.

The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention. Throughout the description of each drawing, similar reference numerals have been used to designate similar components.

Terms such as "first," "second," "A," and "B" may be used to describe various components, but these components should not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, the first component could be referred to as the "second component," and similarly, the second component could also be referred to as the "first component." The term "and/or" includes any combination of multiple related items listed or any one of multiple related items listed.

When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

Hereinafter, with reference to the attached drawings, preferred embodiments of the present invention will be described in more detail. In order to facilitate an overall understanding in describing the present invention, identical reference numerals will be used for identical components in the drawings, and redundant descriptions of identical components will be omitted.

Figure 1 is a block diagram illustrating a path tracking device of an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 1, the path tracking device (1000) may be a device that determines path deviation of an unmanned aerial vehicle (UAV).

To describe the path tracking device (1000) in more detail by configuration, the path tracking device (1000) may include a memory (100) that stores at least one command and a processor (200) that executes at least one command of the memory (100).

In addition, the path tracking device (1000) may further include a transmission/reception device (300), an input interface device (400), an output interface device (500), a storage device (600), etc. that performs communication by being connected to a network running through the processor (200).

Each component included in the path tracking device (1000) is connected by a bus (bus, 700) and can communicate with each other.

Each of the memory (100) and the storage device (600) may be configured with at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (100) may be configured with at least one of a read-only memory (ROM) and a random access memory (RAM).

According to an embodiment, at least one command in the memory (100) may include a command to check the path of an unmanned aerial vehicle (UAV), a command to check the position coordinates of the UAV, and a command to determine whether the UAV deviates from the path. In addition, the command to determine whether the UAV deviates from the path may further include a command to calculate a first vector and a second vector at a first point and a second point within a set path of the UAV, a command to subtract a vertical vector value perpendicular to a straight line connecting the first point and the second point from a position vector according to the position coordinates of the UAV, and a command to compare an absolute value of the subtracted vector value and a threshold setting value to determine whether the UAV deviates from the path.

The processor (200) can execute a program command stored in at least one of the memory (100) and the storage device (600). According to an embodiment, the processor (200) can execute at least one command in the memory (100).

The operation of the processor (200) performing at least one command will be described in more detail when describing the path tracking method of the drone to be described later.

Above, the path tracking device for a drone according to an embodiment of the present invention has been described. Below, a path tracking method for a drone using the processor (200) operation of the path tracking device will be described.

Figure 2 is a flowchart of a method for tracking a path of an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 2, the processor (200) of the path tracking device (1000) can check the path of an unmanned aerial vehicle (UAV) (S1000).

More specifically, the processor (200) can check the set route and the route set point (Way Point) of the unmanned aerial vehicle (UAV). Here, the set route may be a preset operating route of the unmanned aerial vehicle (UAV). In addition, the set route point may be any one of the points located on the set route, and may be any one point within the operating route preset for the UAV for unmanned-vehicle traffic management (UTM).

For example, the route setting point can be expressed in an LLH coordinate system or an Earth-Centered Earth-Fixed (ECEF) coordinate system that includes information on longitude, latitude, and height, which are absolute coordinates. However, as in the example mentioned above, if the route setting point is not expressed in absolute coordinates, the coordinates of the route setting point and the unmanned aerial vehicle (UAV) can be aligned through coordinate transformation.

Once the set path of the unmanned aerial vehicle (UAV) is confirmed, the processor (200) can confirm the current location of the UAV (S2000). According to an embodiment, the processor (200) can confirm the location of the UAV using GPS location information.

Once the location of the unmanned aerial vehicle (UAV) is confirmed, the processor (200) can determine whether the UAV deviates from its path (S3000). Here, whether the UAV deviates from its path can be determined by checking whether the UAV is located within a safe setting range.

The steps for determining whether an unmanned aerial vehicle (UAV) deviates from its path will be explained in more detail with reference to Figure 3 below.

FIG. 3 is a graph for explaining a step of determining whether an unmanned aerial vehicle (UAV) deviates from a path among the path tracking methods according to an embodiment of the present invention.

Referring to FIG. 3, the processor (200) can compare a preset path and the current location of the unmanned aerial vehicle (UAV) to determine whether the UAV deviates from the path. In other words, the processor (200) can use at least one path setting point (p, q, s) to determine whether the unmanned aerial vehicle (UAU) is located within a safe setting range. Hereinafter, for convenience, the path setting points (p, q, s) will be expressed as a first point (p), a second point (q), and a third point (s, not shown).

FIG. 4 is a flowchart for explaining a step of determining whether an unmanned aerial vehicle (UAV) deviates from a path among the path tracking methods according to an embodiment of the present invention.

Referring to FIG. 4, the processor (200) can determine whether an unmanned aerial vehicle (UAV) deviates from its path using the parameter t value.

More specifically, the processor (200) generates a first vector ( ) and the second vector ( according to the second point (q) ) can be issued (S3100).

Afterwards, the processor (200) calculates a vertical vector ( according to the following [Mathematical Formula 1] ), the parameter t can be first calculated. Here, the vertical vector ( ) may be a vector perpendicular to the straight line formed by the first point (p) and the second point (q).

In other words, the processor (200) is a vertical vector ( ), the parameter t can be first calculated using [Mathematical Formula 2] and [Mathematical Formula 3] below.

To be more specific, as in [Mathematical Formula 2] below, the vector is a vector can be perpendicular to. In other words, and The inner product of can be 0.

Accordingly, the processor (200) can calculate the parameter t by using [Mathematical Formula 3], which applies the inner product formula of a vector to [Mathematical Formula 2] (S3300).

At this time, if the calculated value of t is outside the range of 0 < t ≤ 1 (S3500), the processor (200) can determine that the unmanned aerial vehicle (UAV) has deviated from the path by leaving the safety setting range (R). In other words, the processor (200) can determine that the unmanned aerial vehicle (UAV) is not located between the first point (p) and the second point (q).

Accordingly, the processor (200) generates a third vector ( ) can be used to calculate the value (S3550). Here, the third vector ( ) may be a vector value according to the third point (s, not shown).

Afterwards, the processor (200) calculates [Mathematical Expression 2] and [Mathematical Expression 3] according to the first vector and the second vector ( ) and the third vector ( ) can be substituted for the value of the parameter t to recalculate it. In other words, the processor (200) can recalculate the parameter t by substituting the value of the second vector ( ) and the third vector ( ) can be used to re-perform steps S3100 to S3500.

If the value of the produced t falls within the range 0 < t ≤ 1, the processor (200) generates a vector The value can be calculated (S3700).

More specifically, the processor (200) generates a position vector ( ) and, referring to the previously presented [Mathematical Formula 1], the vertical vector ( ) can be produced. Afterwards, the processor (200) produces the produced vertical vector ( ) and position vector ( ), using vector It can calculate the value.

In other words, the processor (200) can calculate a comparison vector by subtracting a vertical vector value perpendicular to a straight line connecting the first point and the second point from a position vector according to the position coordinates of the drone.

The processor (200) compares the threshold setting value (δ) with the calculated comparison vector By comparing the values, it is possible to determine whether the unmanned aerial vehicle (UAV) deviates from its path (S3900).

In other words, the threshold setting value (δ) is a preset value and can be a reference value for determining whether or not the unmanned aerial vehicle (UAV) deviates from the path.

According to one embodiment, the produced vector If the absolute value is greater than the preset threshold setting value (δ), the processor (200) can determine that the unmanned aerial vehicle (UAV) is located within the safe setting range (R). In other words, the processor (200) can determine that the unmanned aerial vehicle (UAV) does not deviate from the safe setting range (R) and is operating normally along the preset setting path (S3910).

According to another embodiment, the generated vector is as shown in [Mathematical Formula 4] below. If the absolute value is greater than the preset threshold value (δ), the processor (200) can determine that the unmanned aerial vehicle (UAV) has deviated from the path by going outside the safety setting range (R) (S3950).

At this time, the processor (200) can precisely measure how much the unmanned aerial vehicle (UAV) has deviated from the safe setting range (R) and the degree of deviance.

If it is determined that an unmanned aerial vehicle (UAV) has deviated from its path, the processor (200) can cause the deviated UAV to return to its starting point or land. Accordingly, the processor (200) can prevent a collision with another unmanned aerial vehicle (UAV) in advance due to the UAV deviating from its safety setting range (R).

Above, the path tracking device and method of an unmanned aerial vehicle (UAV) according to an embodiment of the present invention have been described.

The path tracking device and method according to an embodiment of the present invention can provide a high-precision, high-efficiency, and high-reliability path tracking device and method for an unmanned aerial vehicle (UAV), which can precisely track the path of an unmanned aerial vehicle (UAV) without time constraints, by determining whether the unmanned aerial vehicle (UAV) deviates from the path in real time using two path setting points on the set path of the UAV and the location information of the UAV.

The operations of the method according to an embodiment of the present invention can be implemented as a computer-readable program or code on a computer-readable recording medium. A computer-readable recording medium includes any type of recording device that stores data readable by a computer system. Furthermore, a computer-readable recording medium can be distributed across network-connected computer systems, allowing the computer-readable program or code to be stored and executed in a distributed manner.

Additionally, the computer-readable recording medium may include hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. The program instructions may include not only machine language codes produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

While some aspects of the present invention have been described in the context of a device, they may also represent a description of a corresponding method, wherein a block or device corresponds to a method step or a feature of a method step. Similarly, aspects described in the context of a method may also be described as a corresponding block or item or a feature of a corresponding device. Some or all of the method steps may be performed by (or using) a hardware device, such as, for example, a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, one or more of the most significant method steps may be performed by such a device.

In embodiments, a programmable logic device (e.g., a field programmable gate array) may be used to perform some or all of the functions of the methods described herein. In embodiments, the field programmable gate array may operate in conjunction with a microprocessor to perform one of the methods described herein. In general, the methods are preferably performed by some hardware device.

Although the present invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various modifications and changes may be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below.

1000: Path Tracking Device 100: Memory
200: Processor 300: Transmitter/Receiver
400: Input interface device 500: Output interface device
600: Storage device 700: Bus
p: first point q: second point
R: Safe setting range

Claims (10)

A method for tracking a path of an unmanned aerial vehicle, performed by a processor of a path tracking device of the unmanned aerial vehicle,
A step of confirming a set route and way point of a drone, wherein the set route is a preset operating route of the drone, and the way point is a point located on the set route, and is a point within a preset operating route of the drone for drone traffic management;
A step of checking the current location of the drone; and
A step of comparing the set path and the current location to determine whether the drone deviates from the path; including,
The step of determining whether the above path is deviated is as follows:
A step of calculating a first vector, which is a position vector at the first point, which is the above-mentioned path setting point, and a second vector, which is a position vector at the second point, which is the above-mentioned path setting point;
A step of calculating parameters by using the difference between an arbitrary vector set to the current position and a vertical vector perpendicular to the straight line connecting the first point and the second point and the inner product of the difference between the second vector and the first vector is zero (0), and
A method for tracking a path of an unmanned aerial vehicle, comprising a step of determining that the unmanned aerial vehicle is on a set path when the value of the above parameter is within a range greater than 0 and less than or equal to 1. In claim 1,
A method for tracking a path of an unmanned aerial vehicle, wherein the above path setting point is expressed in an LLH coordinate system or an Earth-Centered Earth-Fixed (ECEF) coordinate system including longitude, latitude, and height information. In claim 1,
A method for tracking a path of an unmanned aerial vehicle, further comprising a step of matching the coordinates of the path setting point and the unmanned aerial vehicle through coordinate transformation. In claim 1,
The step of confirming the current location is a method for tracking the path of an unmanned aerial vehicle, which confirms the location of the unmanned aerial vehicle using location information of a global positioning system (GPS). delete In claim 1,
If the value of the above parameter is outside the range of 0 to 1, a step of calculating a third vector, which is a position vector at a third point, which is the path setting point, and recalculating the parameter based on the second vector and the third vector;
A step of determining that the drone is on a set path when the value of the recalculated parameter is within a range greater than 0 and less than or equal to 1; and
A step of determining that the drone has deviated from the set path when the value of the recalculated parameter is outside the range of 0 to 1;
A method for tracking a path of an unmanned aerial vehicle, further comprising: processor; and
comprising at least one instruction performed by the processor;
By at least one instruction, the processor,
A step of confirming a set route and way point of a drone, wherein the set route is a preset operating route of the drone, and the way point is a point located on the set route, and is a point within a preset operating route of the drone for drone traffic management;
A step of checking the current location of the drone; and
A step of comparing the set path and the current location to determine whether the drone deviates from the path; is performed.
The above processor, in the step of determining whether the path has been deviated,
A first vector, which is a position vector at the first point, which is the above-mentioned path setting point, and a second vector, which is a position vector at the second point, which is the above-mentioned path setting point, are calculated,
Calculate the parameters by using the difference between the arbitrary vector set to the current position and the vertical vector perpendicular to the straight line connecting the first point and the second point and the inner product of the difference between the second vector and the first vector is zero (0),
A path tracking device for an unmanned aerial vehicle, which determines that the unmanned aerial vehicle is on a set path when the value of the above parameter is within a range greater than 0 and less than or equal to 1. In claim 7,
A path tracking device for an unmanned aerial vehicle, wherein the processor is further configured to perform a step of matching the coordinates of the path setting point and the unmanned aerial vehicle through coordinate transformation. delete In claim 7,
The above processor,
If the value of the above parameter is outside the range of 0 to 1, a step of calculating a third vector, which is a position vector at a third point, which is the path setting point, and recalculating the parameter based on the second vector and the third vector;
A step of determining that the drone is on a set path when the value of the recalculated parameter is within a range greater than 0 and less than or equal to 1; and
A step of determining that the drone has deviated from the set path when the value of the recalculated parameter is outside the range of 0 to 1;
A path tracking device of an unmanned aerial vehicle, configured to perform further.