The present invention relates to cooperative navigation of multiple drones using GNSS error sharing and a method for operating a navigation device. The cooperative navigation of multiple drones including a first drone and a second drone may comprise the steps of: setting a first initial absolute location value of the first drone on the basis of GNSS measurement values; acquiring a first absolute location estimation value on the basis of the first initial absolute location value and a first sensor measurement value acquired via a sensor unit included in the first drone; calculating a GNSS error between the first initial absolute location value and the first absolute location estimation value; transferring the calculated GNSS error to the second drone; and calculating a relative location, based on an industrial structure, of the second drone on the basis of the transferred GNSS error.

    La présente invention concerne la navigation coopérative de multiples drones à l'aide d'un partage d'erreur GNSS et un procédé de fonctionnement d'un dispositif de navigation. La navigation coopérative de multiples drones comprenant un premier drone et un second drone peut comprendre les étapes consistant à : définir une première valeur absolue initiale de localisation du premier drone sur la base de valeurs de mesure GNSS ; acquérir une première valeur absolue d'estimation de localisation sur la base de la première valeur absolue initiale de localisation et d'une première valeur de mesure de capteur acquise par l'intermédiaire d'une unité de capteur incluse dans le premier drone ; calculer une erreur GNSS entre la première valeur absolue initiale de localisation et la première valeur absolue d'estimation de localisation ; transférer l'erreur GNSS calculée au second drone ; et calculer un emplacement relatif, sur la base d'une structure industrielle, du second drone sur la base de l'erreur GNSS transférée.

    본 발명은 GNSS 오차 공유를 이용한 복수의 드론 협동 항법 및 항법 장치 동작 방법에 관한 것이다. 상기 복수의 드론 협동 항법은, 제1 드론과 제2 드론을 포함하는 복수의 드론 협동 항법에 있어서, GNSS 측정치를 기초로 제1 드론의 제1 절대위치 초기값을 설정하는 단계, 상기 제1 절대위치 초기값 및 상기 제1 드론에 포함된 센서부를 통해 획득된 제1 센서 측정치를 기초로 제1 절대위치 추정값을 획득하는 단계, 상기 제1 절대위치 초기값과 상기 제1 절대위치 추정값 사이의 오차인 GNSS 오차를 계산하는 단계, 계산된 상기 GNSS 오차를 제2 드론에 전달하는 단계 및 상기 전달받은 GNSS 오차를 기초로 상기 제2 드론의 산업 구조물을 기준으로 한 상대위치를 계산하는 단계를 포함할 수 있다.


    Access

    Download


    Export, share and cite



    Title :

    DRONE COOPERATIVE NAVIGATION USING GNSS ERROR SHARING


    Additional title:

    NAVIGATION COOPÉRATIVE DE DRONES À L'AIDE D'UN PARTAGE D'ERREUR GNSS
    GNSS 오차 공유를 이용한 드론 협동 항법


    Contributors:

    Publication date :

    2024-05-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64U / G01S RADIO DIRECTION-FINDING , Funkpeilung




    Cooperative GNSS Positioning & Navigation

    Waters, D.W. / Pande, T. / Balakrishnan, J. et al. | British Library Conference Proceedings | 2011


    GNSS/MEMS-INS Integration for Drone Navigation Using EKF on Lie Groups

    Fernandes, Marcos R. / Magalhaes, Giorgio M. / Zuniga, Yusef Rafael Caceres et al. | IEEE | 2023


    DRONE NAVIGATION DEVICE, DRONE NAVIGATION METHOD AND DRONE NAVIGATION PROGRAM

    SHIMIZU TATSUHIKO / KOSEKI MITSUAKI / FUJIWARA NOBORU | European Patent Office | 2018

    Free access

    Cooperative Inertial Navigation for GNSS-Challenged Vehicular Environments

    Alam, Nima / Kealy, Allison / Dempster, Andrew G. | IEEE | 2013