The present invention relates to a drone having MEMS sensors. According to the present invention, a drone having MEMS acceleration sensor and angular sensor comprises: an image sensor which photographs a launcher; and a control unit which analyzes a launcher image received from the image sensor. The control unit receives a plurality of launcher images photographed in accordance with the distance from the launcher, compares model data generated through machine learning with the plurality of frames of launcher images continuously photographed by the image sensor, estimates a distance from the launcher, calculates an estimated acceleration based on the estimated distance and the video frame rate of the image sensor, compares the acceleration measured by the acceleration sensor with the estimated acceleration, and determines whether the acceleration sensor is working normally or not. The drone having MEMS sensors is able to rapidly determine whether the MEMS sensors are working normally.
본 발명은 멤스센서를 구비한 드론에 관한 것으로, 멤스타입의 가속도센서 및 각속도센서를 구비하는 드론에 있어서, 발사대를 촬영하는 영상센서; 및 영상센서에서 수신된 발사대 이미지를 분석하는 제어부;를 포함하되, 제어부는, 발사대와의 이격거리에 따라 촬영된 복수의 발사대 이미지를 입력받아 기계학습을 통해 생성된 모델데이터와, 영상센서에서 연속적으로 촬영된 복수 프레임의 발사대 이미지를 비교하여 발사대와의 이격거리를 추정하고, 추정된 이격거리 및 영상센서의 프레임 레이트(video frame rate)를 근거로 추정 가속도를 산출하고, 가속도센서에서 측정된 가속도와 추정 가속도를 비교하여 가속도센서의 정상동작 여부를 판단한다.
Drone having MEMS sensor
멤스센서를 구비한 드론
2020-12-22
Patent
Electronic Resource
Korean
IPC: | B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |