The present invention provides an autonomous landing control system for an unmanned aerial vehicle capable of precisely landing on a moving landing target (landing platform) and capable of robust altitude control by considering the ground effect. According to an embodiment of the present invention, an autonomous landing control system for an unmanned aerial vehicle comprises: an unmanned aerial vehicle; a photographing unit provided in the unmanned aerial vehicle to photograph a landing target; a landing target state estimation unit for analyzing the image of the landing target obtained from the photographing unit to obtain position or speed information of the landing target with respect to the unmanned aerial vehicle; a position control unit for controlling an altitude or position of the unmanned aerial vehicle with respect to the landing target; and an autonomous precise landing planning unit for receiving the position or speed of the landing target obtained by the landing target state estimation unit, outputting desired position information on the x, y, and z axes, and transmitting the desired position information to the position control unit. The landing target may be moved in a vertical or horizontal direction.
본 발명의 일 실시예에 따른 무인비행체의 자율 착륙 제어 시스템은, 무인비행체; 상기 무인비행체에 마련되어 착륙 목표를 촬영하는 촬영부; 상기 촬영부에서 얻은 착륙 목표의 이미지를 분석하여 상기 무인비행체에 대한 상기 착륙 목표의 위치 또는 속도 정보를 구하는 착륙 목표 상태 추정부; 상기 착륙 목표에 대한 상기 무인비행체의 고도 또는 위치를 제어하는 위치 제어부; 및 상기 착륙 목표 상태 추정부에서 구한 상기 착륙 목표의 위치 또는 속도가 입력되고, x,y,z축에서의 원하는 위치정보를 출력하여 상기 위치 제어부에 전달하는 자율정밀착륙 계획부;를 포함하며, 상기 착륙 목표는 수직방향 또는 수평방향을 따라 움직일 수 있다.
SYSTEM FOR AUTONOMOUS LANDING CONTROL OF UNMANNED AERIAL VEHICLE
무인비행체의 자율 착륙 제어 시스템
2021-09-30
Patent
Electronic Resource
Korean
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