A method for estimating an azimuth of an unmanned aerial vehicle (UAV) operating in an indoor environment is provided. The disclosed method comprises: a step of calculating an azimuth based on magnetic field measurement data received from a geomagnetic sensor of a UAV; a step of determining a sensor-based azimuth from the calculated azimuth and a preset error compensation value; a step of detecting a predetermined characteristic of an indoor environment based on image data received from an imaging unit of the UAV; a step of determining an image-based azimuth from the detected predetermined characteristic; and a step of updating the error compensation value based on the sensor-based azimuth and the image-based azimuth.

    실내 환경에서 운행하는 무인 비행체(Unmanned Aerial Vehicle: UAV)의 방위각을 추정하는 방법이 제공된다. 개시된 방법은, UAV의 지자기 센서로부터 수신된 자기장 측정 데이터를 기반으로 방위각을 계산하는 단계와, 계산된 방위각 및 사전설정된 오차 보상 값으로부터 센서 기반 방위각을 판정하는 단계와, UAV의 촬상 유닛으로부터 수신된 영상 데이터를 기반으로 실내 환경의 사전결정된 특징을 검출하는 단계와, 검출된 사전결정된 특징으로부터 영상 기반 방위각을 판정하는 단계와, 센서 기반 방위각 및 영상 기반 방위각을 기반으로 상기 오차 보상 값을 갱신하는 단계를 포함한다.


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    Title :

    ESTIMATION OF AZIMUTH ANGLE OF UNMANNED AERIAL VEHICLE THAT OPERATES IN INDOOR ENVIRONMENT


    Additional title:

    실내 환경에서 운행하는 무인 비행체의 방위각의 추정


    Contributors:
    JIN WOO SONG (author) / JOO HAN LEE (author) / EUNG JU KIM (author) / YONG HUN KIM (author) / SAN HEE KANG (author)

    Publication date :

    2021-06-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64C AEROPLANES , Flugzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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