An embodiment relates to a UWB-based positioning method for swarm flight. In detail, the positioning method defines each flight vehicle as an object on a UWB when positioning for swarm flight is performed, and traces, in real time, the position in a free space by tracking the position without a separate anchor. In particular, positioning suitable for swarm flight is provided in real time by calculating relative positions in a swarm formation from a pull-push relationship and UWB TWR type-based ranging scheduling in a master/slave form. Accordingly, furthermore, by increasing the positioning accuracy of swarm-type unmanned flight vehicles, several flight vehicles and unmanned flight vehicles are simultaneously controlled to maintain swarm flight.

    Un mode de réalisation concerne un procédé de positionnement basé sur une ULB pour un vol d'essaim. Précisément, le procédé de positionnement définit chaque véhicule de vol en tant qu'objet sur une ULB lorsqu'un positionnement pour un vol d'essaim est effectué, et trace, en temps réel, la position dans un espace libre par suivi de la position sans ancrage distinct. En particulier, un positionnement approprié pour le vol d'essaim est assuré en temps réel par calcul de positions relatives dans une formation d'essaim à partir d'une planification de télémétrie de type TWR ULB et de relation symétrique dans une forme maître/esclave. Par conséquent, en outre, par accroissement de la précision de positionnement de véhicules de vol sans pilote de type essaim, plusieurs véhicules de vol et véhicules de vol sans pilote sont simultanément commandés pour maintenir le vol d'essaim.

    실시예는 UWB 기반의 군집 비행용 위치 측위 방법에 관한 것이다. 구체적으로, 이러한 위치 측위 방법은 군집비행용 위치측위가 될 경우에, 각각의 비행체를 UWB 상의 객체로 정의하고, 별도의 앵커없이 위치추적을 함으로써, 자유공간에서 위치를 실시간 탐색한다. 특히, 이러한 UWB TWR 방식 기반에 마스터/슬레이브 형식의 레인징 스케쥴링과 풀-푸쉬 관계로부터 군집 포메이션 상의 상대위치를 산출함으로써, 군집비행에 맞는 위치측위를 실시간으로 제공한다. 그래서, 더 나아가서 군집형 무인 비행체의 위치정확도를 높여서, 군집비행을 유지하기 위해 여러 대의 비행체 및 무인 비행체를 동시에 제어한다.


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    Title :

    UWB-BASED POSITIONING METHOD FOR SWARM FLIGHT


    Additional title:

    PROCÉDÉ DE POSITIONNEMENT BASÉ SUR UNE ULB POUR UN VOL D'ESSAIM
    UWB 기반의 군집비행용 위치 측위 방법


    Contributors:

    Publication date :

    2022-11-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01S RADIO DIRECTION-FINDING , Funkpeilung



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