Ad-hoc UNMANNED AERIAL VEHICLE AD-HOC LOCATION ESTIMATION SYSTEM IN URBAN ENVIRONMENT

• Main Authors: LEE BYOUNG JIN, BAE JAE HYU, SUNG SANG KYUNG
• Format: Patent
• Language: English; Korean
• Published: 24.06.2020
• Subjects: AEROPLANES; AIRCRAFT; ANALOGOUS ARRANGEMENTS USING OTHER WAVES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSIONTRANSMISSIONS IN AIRCRAFT; AVIATION; COSMONAUTICS; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; HELICOPTERS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PARACHUTES; PERFORMING OPERATIONS; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING; TRANSPORTING

Disclosed is an unmanned aerial vehicle Ad-hoc location estimation system in an urban environment. According to one embodiment, the unmanned aerial vehicle location estimation system comprises the steps of: receiving first location information of a second unmanned aerial vehicle from a first unmanned aerial vehicle; and estimating second location information of the second unmanned aerial vehicle based on the first location information and a second inertia value of the second unmanned aerial vehicle. The first location information is estimated based on a global navigation satellite system (GNSS) signal, a first inertia value for the first unmanned aerial vehicle, and image information of the second unmanned aerial vehicle photographed in the sky by the first unmanned aerial vehicle. 도심 환경에서의 무인 항공기 Ad-hoc 위치 추정 시스템이 개시된다. 일 실시예에 따른 무인 항공기 위치 추정 방법은, 제1 무인 항공기(Unmanned Aerial Vehicle)로부터 제2 무인 항공기의 제1 위치 정보를 수신하는 단계와, 상기 제1 위치 정보 및 상기 제2 무인 항공기의 제2 관성값에 기초하여 상기 제2 무인 항공기의 제2 위치 정보를 추정하는 단계를 포함하고, 상기 제1 위치 정보는 GNSS(Global Navigation Satellite System) 신호, 상기 제1 무인 항공기에 대한 제1 관성값, 및 상기 제1 무인 항공기가 상공에서 촬영한 제2 무인 항공기의 영상 정보에 기초하여 추정된다.