KR102219989B1 - Apparatus for observing target and estimating location of target and operating system for suicide type unmanned vehicle comprising the same - Google Patents

Abstract

The present invention relates to an apparatus for observing and estimating a target, and a system for operating a self-destructing unmanned aerial vehicle including the same.

Description

Apparatus for observing target and estimating location of target and operating system for suicide type unmanned vehicle comprising the same}

The present invention relates to an apparatus for observing and estimating a target, and a system for operating a self-destructing unmanned aerial vehicle including the same.

Since the main targets of self-destructive drones such as tactical vehicles or armored vehicles are more vulnerable to attack than the sides, many missiles and self-destructive drones have been developed with the aim of attacking the upper part, but multicopter or helicopter-type drones are at high speed. Because it is difficult to descend into flight, it is difficult to attack the upper part of the enemy at high speed. For this reason, there are limitations in its use as a self-destructing unmanned aerial vehicle, so there is a limit to its use as a self-destructing unmanned aerial vehicle.

On the other hand, in order to transmit the location of the target to the self-destructing UAV, it is necessary to search for the target and accurately estimate the location.

In recent years, the number of operations using unmanned aerial vehicles has increased, and the demand for obtaining accurate global coordinates of targets for operating unmanned aerial vehicles has increased. However, conventional targeting equipment for missiles uses a laser target indicator to continuously designate a position or TADS (Target Acquisition & Designation System) to search for a target and then estimate its relative position with the target. It was all to do.

In the present invention, the azimuth and elevation are measured using a moving baseline of a GPS system using two GPS antennas, and the distance to the target is measured using a rare range finder (LRF) to determine the position of the target. A problem to be solved is to provide a device for estimating the position of a target and a system for operating a self-destructing unmanned aerial vehicle including the same.

In addition, it is an object of the present invention to provide an unmanned aerial vehicle capable of performing a high-speed descent attack that the existing rotorcraft did not do by controlling the aircraft in the direction of gravity, and a self-destructive unmanned aerial vehicle operating system including the same.

In addition, the present invention estimates the location information of the target, transmits the position information and the mission start command to the unmanned aerial vehicle, it is a problem to solve to provide a self-destructive unmanned aerial vehicle operating system capable of performing a hit-guided flight with the unmanned aerial vehicle do.

In order to solve the above problems, according to an aspect of the present invention, a distance finder for measuring a distance D from a target, a GPS module provided to measure a north reference azimuth angle (Ψ) and an elevation angle (θ) of the target, Based on the north reference azimuth angle (Ψ) and elevation angle (θ) of the target measured by the GPS module, the target location information including the target's latitude, longitude, and altitude is calculated, and the target There is provided a target observation and position estimation apparatus including an observation control unit configured to transmit distance and position information of a target to an external device, and a display unit configured to display image information and position information of the target.

In addition, the GPS module includes a first GPS antenna and a second GPS antenna located at a predetermined distance (d) apart from the first GPS antenna.

In addition, the GPS module is provided to measure the north reference azimuth angle Ψ and the elevation angle θ of the target based on the relative positions of the first and second GPS antennas.

In addition, according to another aspect of the present invention, there is provided a firearm equipped with the target observation and position estimation device.

In addition, according to another aspect of the present invention, a method of controlling the target observation and location estimation apparatus includes: measuring a position of a target with a first GPS antenna, measuring a position of a target with a second GPS antenna, and Based on the north reference azimuth angle (Ψ) and elevation angle (θ) of the target measured using the positions of each of the 1 GPS antenna and the second GPS antenna, and the distance to the target measured by a range finder (D), the latitude of the target ( A method of controlling a target observation and position estimation apparatus is provided, including the step of calculating position information of a target including latitude, longitude, and altitude.

In addition, according to another aspect of the present invention, there is provided a self-destructing unmanned aerial vehicle operating system including the target observation and position estimation device provided to provide the unmanned aerial vehicle and position information of the target to the unmanned aerial vehicle. Here, the target observation and location estimation apparatus includes a range finder for measuring a distance D from the target, a GPS module provided to measure a north reference azimuth angle (Ψ) and an elevation angle (θ) of the target, and the target measured by the GPS module. Based on the north reference azimuth angle (Ψ) and elevation angle (θ), the target location information including the target's latitude, longitude, and altitude is calculated, and the distance to the target and the target It includes a flight control unit provided to transmit location information to the unmanned aerial vehicle, and a display unit provided to display image information and location information of a target. In addition, the GPS module includes a first GPS antenna and a second GPS antenna located at a predetermined distance (d) apart from the first GPS antenna, and the GPS module is based on the relative positions of the first and second GPS antennas. It is provided to measure the north reference azimuth angle (Ψ) and elevation angle (θ).

In addition, according to another aspect of the present invention, it controls a plurality of rotors and rotors rotatable in the forward and reverse directions, and includes a flight control unit provided to receive an operation command from an external device, each rotor, the airfoil left and right Including a plurality of blades having a symmetrical shape, an unmanned aerial vehicle is provided.

In addition, according to another aspect of the present invention, there is provided a self-destructive unmanned aerial vehicle operating system including a target observation and position estimation device for transmitting position information and operation command of a target to the unmanned aerial vehicle and the unmanned aerial vehicle.

Here, the unmanned aerial vehicle controls a plurality of rotors and rotors that can rotate in forward and reverse directions, and includes a flight control unit provided to receive an operation command from an external device, and each rotor includes a plurality of airfoils having a left-right symmetric shape. Includes four blades. In addition, the target observation and location estimation apparatus includes a range finder for measuring the distance D from the target, a GPS module provided to measure the north reference azimuth angle (Ψ) and the elevation angle (θ) of the target, and the target measured by the GPS module. Based on the north reference azimuth angle (Ψ) and elevation angle (θ), the target location information including the target's latitude, longitude, and altitude is calculated, and the distance to the target and the target And an observation control unit configured to transmit location information to the unmanned aerial vehicle and a display unit configured to display image information and location information of a target. In addition, the GPS module includes a first GPS antenna and a second GPS antenna located at a predetermined distance (d) apart from the first GPS antenna, and the GPS module is based on the relative positions of the first and second GPS antennas. It is provided to measure the north reference azimuth angle (Ψ) and elevation angle (θ).

As described above, the target observation and location estimation apparatus, the unmanned aerial vehicle, and the self-destructing unmanned aerial vehicle operating system including the same according to at least one embodiment of the present invention have the following effects.

The target observation and location estimation device measures azimuth and elevation or azimuth and roll angles using two GPS antennas when a target is designated using an EO camera and/or an IR camera. A method of measuring azimuth and elevation angles using a moving baseline of a GPS system, measuring the distance to the target using a rare range finder (LRF), and estimating the three-dimensional coordinates inversely using this You can estimate the position of the target using.

In addition, by rotating the propeller of the rotor in the reverse direction, the unmanned aerial vehicle overcomes gravity, vertically descends to a target at high speed, and can be precisely guided.

In particular, unlike conventional rotorcraft, vortexing does not occur by reversing the rotational direction of the rotor while the vehicle is performing a vertical descending attack, and because it accelerates in the descending direction rather than free fall, descending flight at a very high speed. It can be done, and very precise hitting is possible because the posture and position are controlled using the thrust in the downward direction.

1 is a perspective view of a target observation and position estimation apparatus according to an embodiment of the present invention.
2 is a perspective view showing a state in which the apparatus for observing and estimating a target related to an embodiment of the present invention is provided in a rifle.
3 is a conceptual diagram illustrating a method of measuring a target observation and location estimation apparatus according to an embodiment of the present invention.
4 is a conceptual diagram illustrating an operating state of a system for operating a self-destructing unmanned aerial vehicle according to an embodiment of the present invention.
5 is a flowchart illustrating a method of operating a self-destructing unmanned aerial vehicle operating system according to an embodiment of the present invention.
6 is a perspective view showing an unmanned aerial vehicle related to an embodiment of the present invention.
7 is a conceptual diagram for explaining an operating state of the unmanned aerial vehicle according to an embodiment of the present invention.
8 is a perspective view showing the rotor of the unmanned aerial vehicle shown in FIG. 6.
9 is a side view of the blade shown in FIG. 8.
10 is a cross-sectional view taken along line A-A' shown in FIG. 8;

Hereinafter, a target observation and position estimation apparatus, an unmanned aerial vehicle, and a self-destructing unmanned aerial vehicle operating system including the same according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

In addition, regardless of the reference numerals, the same or corresponding components are given the same or similar reference numbers, and duplicate descriptions thereof will be omitted, and the size and shape of each component member shown for convenience of explanation are exaggerated or reduced. Can be.

1 is a perspective view of a target observation and location estimation apparatus 100 related to an embodiment of the present invention, and FIG. 2 is a target observation and location estimation apparatus 100 ′ according to an embodiment of the present invention provided in a rifle. It is a perspective view showing the state.

In addition, FIG. 3 is a conceptual diagram illustrating a method of measuring a position of the apparatus 100 for observing and estimating a target according to an embodiment of the present invention, and FIG. 4 is a diagram illustrating a system for operating a self-destructing unmanned aerial vehicle according to an embodiment of the present invention. It is a conceptual diagram to explain the operating state.

An embodiment of the present invention includes a target observation and location estimation apparatus 100 and a self-destructing unmanned aerial vehicle operating system including the same.

In the present invention, the target observation and position estimation apparatus (hereinafter, also referred to as'TADS') is provided to measure and calculate the position information of the target and transmit the position information of the target to an external device. In addition, the external device includes an unmanned aerial vehicle (hereinafter, also referred to as a “drone”).

In addition, the self-destructing unmanned aerial vehicle operation system includes a target observation and position estimation apparatus 100 and an unmanned aerial vehicle 200. The distance finder 140 includes a laser distance finder.

1 to 4, a target observation and location estimation apparatus 100 according to an embodiment of the present invention includes a range finder 140, a GPS module 120, an observation control unit, and a display unit 150. .

Specifically, the target observation and position estimation apparatus 100 includes a range finder 140 for measuring a distance D from the target T. In addition, the distance finder includes a laser distance finder 140.

In addition, the target observation and location estimation apparatus 100 includes a GPS module 120 provided to measure a north reference azimuth angle (Ψ) and an elevation angle (θ) of the target. In this document, the GPS module is configured in a manner of measuring azimuth and elevation angles using a moving baseline, and may be referred to as a moving baseline GPS.

That is, the target observation and location estimation device 100 is a moving device that calculates the location and angle of the location estimation device using the difference between two different GPS data by disposing two GPS antennas at a certain distance on the device. Use the moving base line method.

In addition, the target observation and location estimation apparatus 100 is based on the north reference azimuth angle (Ψ) and elevation angle (θ) of the target (T) measured by the GPS module 120, the latitude of the target (T), And an observation control unit configured to calculate location information of a target including longitude and altitude, and transmit distance to the target and location information of the target to an external device.

In addition, the target observation and location estimation apparatus 100 may include a display unit 150 provided to display image information and location information of a target. The display unit 150 may be a scope used in ordinary observation equipment.

Meanwhile, the GPS module 120 includes a first GPS antenna 121 and a second GPS antenna 122 positioned at a predetermined distance d from the first GPS antenna 121.

The observation control unit, based on the north reference azimuth angle (Ψ) and elevation angle (θ) of the target T measured by the first GPS antenna 121 and the second GPS antenna 122, the first GPS antenna 121 And the latitude, longitude, and altitude of each target T of the second GPS antenna 122 are calculated. In addition, the observation control unit is based on the relative position (eg, altitude difference) of the first and second GPS antennas 121 and 122, the latitude, longitude, and altitude of the target T. Calculate the location information of the target including)

In addition, the GPS module 120 is provided to measure the north reference azimuth angle Ψ and the elevation angle θ of the target based on the relative positions of the first and second GPS antennas 121 and 122.

The location information of the target may be calculated through the following general formulas 1 to 8.

[General Formula 1]

lat_coefficient = 111 132.95-559.822 x cos(2 x lat) + 1.175 x cos(4 x lat)

[General Formula 2]

lon_coefficient = 111412.88 x cos(lat)-93.5 x cos(3 x lat) + 0.12 x cos(5 x lat)

[General Formula 3]

DistN = LRF_dist x cos(pitch) x cos(MBheading)

[General Formula 4]

DistE = LRF_dist x cos(pitch) x sin(MBheading)

[General Formula 5]

deltaH = LRF_dist x sin(pitch)

[General Formula 6]

TargetLat = DistN / lat_coefficient + lat

[General Formula 7]

TargetLon = DistE / lon_coefficient + lon

[General Formula 8]

TargetAlt = deltaH + height

On the other hand, in the target observation and location estimation apparatus 100, the first GPS antenna 121 is the antenna located on the side where the distance to the target T is relatively close, and the antenna located on the side where the distance from the target T is relatively far. The antenna is the second GPS antenna 121.

In addition, the first GPS antenna 121 and the second GPS antenna 122 may be disposed coaxially with respect to a virtual axis parallel to the laser irradiation axis of the laser range finder 140.

In General Formulas 1 to 8, lat represents the latitude measured by the second GPS antenna 122 in the target observation and location estimation apparatus (100, hereinafter referred to as'TADS'), and lon represents It represents the longitude measured by the second GPS antenna 122 of TADS.

In addition, the pitch represents the pitch angle of the TADS 100, and the pitch angle is an elevation angle θ, which is determined by a difference in elevation between the first GPS antenna 121 and the second GPS antenna 122.

In addition, MBheading is a moving base heading and represents a north reference azimuth (Ψ). As described above, the azimuth angle of the virtual axis connecting the first GPS antenna 121 and the second GPS antenna 122 is a moving base heading in [General Formula 3] and [General Formula 4], It is determined by the north reference azimuth (Ψ).

In addition, lat_coefficient represents a distance value per latitude 1 degree reflecting the curvature of the earth according to latitude (unit: m), and lon_coefficient is a distance value per degree of longitude reflecting the curvature of the earth according to latitude (unit: m).

In addition, DistN represents the North reference distance difference (unit: m) between the target and TADS 100, and DistE represents the East reference distance difference between the target and the TADS 100 (unit : m), and deltaH represents the difference in altitude (unit: m) between the target and the TADS 100.

In addition, TargetLat represents the latitude (unit: degree) of the target, TargetLon represents the longitude (unit: degree) of the target, TargetAlt represents the altitude of the target (unit: m), and LRF_dist represents the laser It represents the distance value (unit: m) to the target measured by the range finder 140.

Further, the observation control unit may be provided to transmit an operation command of the external device when transmitting the distance D from the target T and the location information of the target to the external device. In this case, the external device includes an unmanned aerial vehicle, and the operation command may include a movement command of the unmanned aerial vehicle toward a target based on the transmitted location information.

In addition, the target observation and location estimation apparatus 100 may further include an inertial navigation apparatus 110 for updating location information. By combining the position and speed information of the target measured using the GPS module 120 and the posture and speed information of the inertial navigation device 100 using a Kalman filter to derive the position, it will increase the update rate of the location information. I can.

In addition, the target observation and location estimation apparatus 100 may further include one or more of an EO (electron optical) camera and an IR (infrared) camera 130 for selecting a target.

Meanwhile, referring to FIG. 1, the target observation and location estimation apparatus 100 may include a base unit 101 in which a first GPS antenna 121 and a second GPS antenna 122 are mounted at a predetermined interval. . In addition, the base portion 101 may have a shape extending along a virtual axis parallel to the laser irradiation axis of the laser distance meter 140. In this case, the inertial navigation apparatus 110 may be mounted on the base unit 101 between the first GPS antenna 121 and the second GPS antenna 122. At least one camera 130 of an EO camera and an IR camera may be mounted on the inertial navigation device 101.

In addition, referring to FIG. 2, according to another embodiment of the present invention, a firearm 150 having a target observation and location estimation apparatus 100 ′ may be included. In the present embodiment, the target observation and location estimation apparatus 100 ′ includes the first and second GPS antennas 121 and 122, the inertial navigation apparatus 110, except for the base unit 101 shown in FIG. It may include an EO/IR camera 130, a laser distance meter 140, and a display unit 150.

A method of controlling the target observation and location estimation apparatus having the above structure is as follows.

Referring to FIG. 3, a method for controlling a target observation and location estimation apparatus according to an embodiment of the present invention includes measuring a position of a target with a first GPS antenna 121, and Measuring the position, and the north reference azimuth angle (Ψ) and elevation angle (θ) of the target measured using the positions of each of the first GPS antenna 121 and the second GPS antenna 122, and measured by a range finder. And calculating location information of the target, including the latitude, longitude, and altitude of the target based on the distance D from the target.

In addition, referring to FIG. 3, for a method of controlling the target observation and location estimation apparatus, referring to FIG. 3 (b), measuring the distance D to the target using a laser range finder, moving baseline GPS ( 120) measuring the north reference azimuth angle (heading angle, Ψ) between the position estimation device 100 and the target T, referring to FIG. 3(c), using the moving baseline GPS 120 The step of measuring a pitch angle (θ) based on the ground surface between the position estimating device 100 and the target T, and GPS information and distance (D) of the position estimating device 100, a heading angle Ψ, It includes the step of measuring the latitude, longitude, and altitude of the target T using the pitch angle (θ) based on the ground surface (General Formulas 1 to 8).

In addition, referring to Figure 4, the self-destructive unmanned aerial vehicle operating system according to an embodiment of the present invention includes an unmanned aerial vehicle 200 and a target observation and position estimation apparatus 100 provided to provide the unmanned aerial vehicle with location information of the target. .

As described with reference to FIGS. 1 and 3, the target observation and position estimation apparatus includes a range finder 140 for measuring a distance D from a target, a north reference azimuth angle Ψ of the target T, and an elevation angle ( Based on the GPS module 120 provided to measure θ) and the north reference azimuth angle (Ψ) and elevation angle (θ) of the target measured by the GPS module 120, the latitude, longitude, and altitude of the target Includes a flight control unit provided to calculate the position information of the target including (altitude), transmit the distance to the target and the position information of the target to the unmanned aerial vehicle, and a display unit 150 provided to display image information and position information of the target. do.

In addition, the GPS module 120 includes a first GPS antenna 121 and a second GPS antenna 122 located at a predetermined distance (d) apart from the first GPS antenna 121, and the GPS module 120, It is provided to measure the north reference azimuth angle (Ψ) and elevation angle (θ) of the target based on the relative positions of the first and second GPS antennas 121 and 122.

As described above, the observation control unit of the target observation and position estimation apparatus 100 is provided to transmit an operation command of the unmanned aerial vehicle when transmitting the distance D and the position information of the target to the unmanned aerial vehicle. I can. The operation command may include a movement command of the unmanned aerial vehicle 200 toward the target based on the transmitted location information.

When the operation command is transmitted from the target observation and position estimation apparatus 100, the unmanned aerial vehicle takes off, approaches the target position, and performs strike.

The control method of the self-destructive unmanned aerial vehicle operation system is the step of taking off the unmanned aerial vehicle 100 at an altitude higher than the relative position with the target T received from the position estimation device 100, TADS, and the position of the target received from the TADS 100. The step of approaching the unmanned aerial vehicle 100 while maintaining a constant altitude, and when the distance between the target (T) and the unmanned aerial vehicle enters within a predetermined range, the rotor of the unmanned aerial vehicle is rotated in the opposite direction and flying toward the target in a reverse propulsion manner, the position And performing control.

5 is a flow chart illustrating a method of operating a self-destructing unmanned aerial vehicle operating system related to an embodiment of the present invention, FIG. 6 is a perspective view showing an unmanned aerial vehicle 200 related to an embodiment of the present invention, and FIG. 7 is It is a conceptual diagram for explaining one operating state of the unmanned aerial vehicle 200 related to an embodiment of the present invention.

In addition, Figure 8 is a perspective view showing the rotor 210 of the unmanned aerial vehicle shown in Figure 6, Figure 9 is a side view of the blade shown in Figure 8, Figure 10 is along the line A-A' shown in Figure 8 It is a cross-sectional view in a cut-out state.

The unmanned aerial vehicle 200 related to an embodiment of the present invention controls a plurality of rotors 210 and the rotors 210 that can rotate in forward and reverse directions, and a flight controller provided to receive an operation command from an external device 100 Including 202. In this document, the unmanned aerial vehicle 200 may be operated as a self-destructing unmanned aerial vehicle.

The unmanned aerial vehicle 200 includes a main body 201 and a plurality of support members 202 that extend along the radial direction of the main body 201 and are disposed apart along the circumferential direction of the main body.

The rotor 210 is provided at the end of the support member 202. For example, the number of support members 202 may be the same as the number of rotors 210.

Referring to FIG. 10, each rotor 210 includes a plurality of blades 211 having an airfoil symmetrical shape.

The plurality of rotors 210 may be 2 to 8, and preferably, the plurality of rotors may be 3 to 4.

The rotor 210 may include two to four blades, and preferably, referring to FIG. 8, the rotor may include two blades 211 and 212.

The rotor 210 includes a body 211 having a drive source for rotating the blades, and reference numeral C denotes a rotation center axis of the blades 21 and 212.

The blade 211 has a fixed end 211a mounted on the body 211 of the rotor 210 and a free end 211b opposite to the fixed end 211a. In this document, a direction from the fixed end 211a of the blade to the free end 211b may be referred to as the longitudinal direction. In this case, the blade 211 may have an airfoil of the entire area along the length direction to have a left-right symmetric shape.

In the case of a general propeller propeller for drones, the shape of the airfoil (blade cross section) is formed asymmetrically for one-way rotation, that is, forward rotation, and to minimize turbulence in the forward air flow and to avoid vortex generation. The entire blade has a shape twisted in the forward direction.

As a result, there is a problem in that efficiency and stability are deteriorated because turbulence and vortex are generated in a fall acceleration propulsion by rotating an existing forward propeller in a reverse direction in a falling sequence at a target position.

In order to solve the above problems, the present invention provides a propeller having a shape that can achieve the same thrust stability and efficiency in both forward and reverse rotation situations, that is, the shape of the airfoil of the blade is symmetrical for both directions of rotation. do.

In addition, referring to FIG. 8, the blade 211 is designed in a symmetrical structure in order to secure optimum thrust in both directions of rotation during forward and reverse rotation, and the blade 211 does not generate eddy currents during rotation. It is designed in the form of a sage leaf with a relatively wide root portion and a narrow tip portion.

In this document, referring to (a) of FIG. 7, when the rotor rotates in the forward direction, the unmanned aerial vehicle 200 may perform an operation of taking off and flying to the target (T) position and approaching it. Unlike this, referring to (b) of FIG. 7, when the rotor rotates in the reverse direction, the unmanned aerial vehicle 200 descends to the target T along the direction of gravity and can perform an operation of hitting the target T. have.

In addition, the unmanned aerial vehicle 200 may include one or more bullets 230.

That is, when the flight control unit 220 receives the position information of the target from an external device (target observation and position estimation device), the rotor 210 rotates in the forward direction to move to the target side (takeoff and approach), and the received target When approaching the position, it is provided to rotate the rotor 210 in the reverse direction.

In addition, the flight control unit 220 may control the flight to be made above the target at the received position.

In addition, the flight control unit 220 may be provided to rotate the rotor 210 in the reverse direction when the distance to the target is less than a predetermined distance at the received position.

In addition, the self-destructing unmanned aerial vehicle operating system related to an embodiment of the present invention is a target observation and position estimation device for transmitting position information and operation command of the target to the unmanned aerial vehicle 200 and the unmanned aerial vehicle 200 described with reference to FIG. 6 Includes.

The target observation and position estimation apparatus 100 is as described with reference to FIG. 1. Specifically, the target observation and position estimation apparatus 100 includes a range finder 140 for measuring a distance D from the target, the north reference azimuth angle (Ψ) and the elevation angle (θ) of the target. ), based on the north reference azimuth angle (Ψ) and elevation angle (θ) of the target measured by the GPS module 120 and the GPS module 120, the latitude, longitude, and altitude ( altitude), and a display unit 150 provided to display image information and position information of the target and an observation control unit provided to transmit the distance to the target and the position information of the target to the unmanned aerial vehicle. .

In addition, as described above, the GPS module 120 includes a first GPS antenna 121 and a second GPS antenna 122 positioned at a predetermined distance d from the first GPS antenna 121. In addition, the GPS module 120 is provided to measure the north reference azimuth angle Ψ and the elevation angle θ of the target based on the relative positions of the first and second GPS antennas.

In addition, the control method of the self-destructing unmanned aerial vehicle operation system is as follows.

The control method includes the steps of measuring and calculating the position information of the target in the position estimating device 100, and transmitting the position information and operation command of the target to the unmanned aerial vehicle 100, and according to the operation command from the unmanned aerial vehicle 100 It involves performing the task.

Specifically, the control method, in the position estimation apparatus 100, measuring a distance value (), a north reference azimuth angle (Heading angle, Ψ), and elevation angle (Pitch angle, θ) (S101), the measured Calculating the latitude, longitude, and altitude of the target using, Ψ, θ (S102), transmitting the calculated latitude, longitude, and altitude information to the unmanned aerial vehicle and commanding the unmanned aerial vehicle's mission start. It may include transmitting (S103, S104).

In addition, the control method, in the unmanned aerial vehicle 200, the step of receiving the latitude, longitude, altitude information of the target received from the TADS (100) (S201), the step of receiving a mission start command from the TADS (100) (S202) Include. At this time, in a state in which the mission start command is not received, the safe mode state is maintained (S204).

In addition, when the mission start command is received, the step of taking off in place at the position where the mission start command is received (S203), the step of taking off higher than a predetermined height (e.g., 150m) (S205), the target position Low flight start step (S206), the step of approaching the distance to the target within a predetermined distance (e.g., 3m) (S207), the step of checking the stopped flight status of the unmanned aerial vehicle (S208), and the rotor back propulsion of the unmanned aerial vehicle to the target position It includes a step (S209) of starting a precision hit induction flight through progress and position, speed, and posture control.

Preferred embodiments of the present invention described above are disclosed for the purpose of illustration, and those skilled in the art who have ordinary knowledge of the present invention will be able to make various modifications, changes, and additions within the spirit and scope of the present invention. And additions should be seen as falling within the scope of the following claims.

100: target observation and position estimation device
200: unmanned aerial vehicle

Claims (10)

A range finder for measuring the distance D from the target;
A GPS module provided to measure a north reference azimuth angle (Ψ) and an elevation angle (θ) of the target;
Based on the north reference azimuth angle (Ψ) and elevation angle (θ) of the target measured by the GPS module, the target location information including the target's latitude, longitude, and altitude is calculated, and the target An observation control unit configured to transmit information on a distance to the target and location of a target to an external device;
A display unit configured to display image information and location information of the target; And
It includes an inertial navigation device for updating location information,
The GPS module includes a first GPS antenna and a second GPS antenna located at a predetermined distance (d) apart from the first GPS antenna,
The GPS module is provided to measure a north reference azimuth angle (Ψ) and elevation angle (θ) of the target based on the relative positions of the first and second GPS antennas,
It further includes at least one of an EO camera and an IR camera for selecting a target,
The first GPS antenna and the second GPS antenna further include a base portion mounted at a predetermined interval,
The inertial navigation device is mounted on the base portion between the first GPS antenna and the second GPS antenna,
At least one of the EO camera and IR camera is mounted on an inertial navigation device, a target observation and position estimation device. The method of claim 1,
The range finder includes a laser range finder,
The first GPS antenna and the second GPS antenna are arranged coaxially with respect to an imaginary axis parallel to the laser irradiation axis of the laser range finder. The method of claim 1,
The observation control unit is a target observation and position estimation device provided to transmit an operation command of the external device when transmitting distance and position information of the target to the external device. The method of claim 3,
External devices include unmanned aerial vehicles,
The operation command includes a movement command of the unmanned aerial vehicle toward the target based on the transmitted position information. delete delete delete A firearm equipped with the target observation and position estimation device according to claim 1. A method for controlling a target observation and position estimation apparatus according to claim 1,
Measuring a position of a target with a first GPS antenna;
Measuring the position of the target with a second GPS antenna;
The latitude of the target based on the north reference azimuth angle (Ψ) and elevation angle (θ) of the target measured using the positions of the first and second GPS antennas, and the distance to the target measured by a range finder (D). A method of controlling a target observation and location estimation apparatus comprising the step of calculating location information of a target including (latitude), longitude, and altitude. Unmanned aerial vehicle; And
It includes a target observation and location estimation device provided to provide the location information of the target to the unmanned aerial vehicle,
The target observation and position estimation apparatus includes: a range finder for measuring a distance D from a target;
A GPS module provided to measure a north reference azimuth angle (Ψ) and an elevation angle (θ) of the target;
Based on the north reference azimuth angle (Ψ) and elevation angle (θ) of the target measured by the GPS module, the target location information including the target's latitude, longitude, and altitude is calculated, and the target A flight control unit configured to transmit information on a distance and a target location to an unmanned aerial vehicle;
A display unit configured to display image information and location information of the target; And
It includes an inertial navigation device for updating location information,
The GPS module includes a first GPS antenna and a second GPS antenna located at a predetermined distance (d) apart from the first GPS antenna,
The GPS module is provided to measure a north reference azimuth angle (Ψ) and elevation angle (θ) of the target based on the relative positions of the first and second GPS antennas,
The target observation and location estimation device further includes at least one of an EO camera and an IR camera for selecting a target,
The first GPS antenna and the second GPS antenna further include a base portion mounted at a predetermined interval,
The inertial navigation device is mounted on the base portion between the first GPS antenna and the second GPS antenna,
At least one of the EO cameras and IR cameras is a self-destructive unmanned aerial vehicle operating system mounted on an inertial navigation system.

Images