Method and system for leader-follower formation crowding flight
The present invention relates to a leader-following swarm flight method and system. The method according to the present invention comprises the steps of: allowing a leader flight vehicle (hereinafter referred to as "leader") to broadcast a target relative position to be maintained by follo...
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| creator | MOON SUNG TAE |
| description | The present invention relates to a leader-following swarm flight method and system. The method according to the present invention comprises the steps of: allowing a leader flight vehicle (hereinafter referred to as "leader") to broadcast a target relative position to be maintained by following flight vehicles (hereinafter referred to as "followers") with respect to the leader; allowing the leader to broadcast real time kinematic-GPS (RTK-GPS) calibration information; allowing the followers to calculate the current relative position of the followers with respect to the leader using the RTK-GPS calibration information; and allowing the followers to move in a direction in which a difference between the current relative position and the target relative position decreases. According to the present invention, it is possible to perform a leader-following swarm flight without the need for an RTK-GPS base station on the ground while reducing the amount of data communication.
본 발명은 리더 추종 기반 군집 비행 방법 및 시스템에 관한 것으로, 본 발명에 따른 방법은 리더 비행체가 리더 비행체를 기준으로 팔로우 비행체가 유지해야 하는 목표 상대 위치를 브로드캐스팅하는 단계, 리더 비행체가 RTK-GPS(Real Time Kinematic-GPS) 교정 정보를 브로드캐스팅하는 단계, 팔로우 비행체가 RTK-GPS 교정 정보를 이용하여 리더 비행체를 기준으로 팔로우 비행체의 현재 상대 위치를 계산하는 단계, 팔로우 비행체가 현재 상대 위치와 목표 상대 위치의 차이가 줄어드는 방향으로 이동하는 단계를 포함한다. 본 발명에 의하면 데이터 통신량을 줄이면서 지상의 RTK-GPS 기지국이 필요없는 리더 추종 군집 비행을 할 수 있다. |
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본 발명은 리더 추종 기반 군집 비행 방법 및 시스템에 관한 것으로, 본 발명에 따른 방법은 리더 비행체가 리더 비행체를 기준으로 팔로우 비행체가 유지해야 하는 목표 상대 위치를 브로드캐스팅하는 단계, 리더 비행체가 RTK-GPS(Real Time Kinematic-GPS) 교정 정보를 브로드캐스팅하는 단계, 팔로우 비행체가 RTK-GPS 교정 정보를 이용하여 리더 비행체를 기준으로 팔로우 비행체의 현재 상대 위치를 계산하는 단계, 팔로우 비행체가 현재 상대 위치와 목표 상대 위치의 차이가 줄어드는 방향으로 이동하는 단계를 포함한다. 본 발명에 의하면 데이터 통신량을 줄이면서 지상의 RTK-GPS 기지국이 필요없는 리더 추종 군집 비행을 할 수 있다.</description><language>eng ; kor</language><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES ; CONTROLLING ; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES ; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES ; MEASURING ; PHYSICS ; RADIO DIRECTION-FINDING ; RADIO NAVIGATION ; REGULATING ; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ; TESTING</subject><creationdate>2021</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20210609&DB=EPODOC&CC=KR&NR=102263704B1$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25563,76318</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20210609&DB=EPODOC&CC=KR&NR=102263704B1$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>MOON SUNG TAE</creatorcontrib><title>Method and system for leader-follower formation crowding flight</title><description>The present invention relates to a leader-following swarm flight method and system. The method according to the present invention comprises the steps of: allowing a leader flight vehicle (hereinafter referred to as "leader") to broadcast a target relative position to be maintained by following flight vehicles (hereinafter referred to as "followers") with respect to the leader; allowing the leader to broadcast real time kinematic-GPS (RTK-GPS) calibration information; allowing the followers to calculate the current relative position of the followers with respect to the leader using the RTK-GPS calibration information; and allowing the followers to move in a direction in which a difference between the current relative position and the target relative position decreases. According to the present invention, it is possible to perform a leader-following swarm flight without the need for an RTK-GPS base station on the ground while reducing the amount of data communication.
본 발명은 리더 추종 기반 군집 비행 방법 및 시스템에 관한 것으로, 본 발명에 따른 방법은 리더 비행체가 리더 비행체를 기준으로 팔로우 비행체가 유지해야 하는 목표 상대 위치를 브로드캐스팅하는 단계, 리더 비행체가 RTK-GPS(Real Time Kinematic-GPS) 교정 정보를 브로드캐스팅하는 단계, 팔로우 비행체가 RTK-GPS 교정 정보를 이용하여 리더 비행체를 기준으로 팔로우 비행체의 현재 상대 위치를 계산하는 단계, 팔로우 비행체가 현재 상대 위치와 목표 상대 위치의 차이가 줄어드는 방향으로 이동하는 단계를 포함한다. 본 발명에 의하면 데이터 통신량을 줄이면서 지상의 RTK-GPS 기지국이 필요없는 리더 추종 군집 비행을 할 수 있다.</description><subject>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</subject><subject>CONTROLLING</subject><subject>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</subject><subject>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</subject><subject>MEASURING</subject><subject>PHYSICS</subject><subject>RADIO DIRECTION-FINDING</subject><subject>RADIO NAVIGATION</subject><subject>REGULATING</subject><subject>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</subject><subject>TESTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2021</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZLD3TS3JyE9RSMxLUSiuLC5JzVVIyy9SyElNTEkt0k3Lz8nJL08tAonlJpZk5ucpJBfll6dk5qUrpOVkpmeU8DCwpiXmFKfyQmluBmU31xBnD93Ugvz41OKCxOTUvNSSeO8gQwMjIzNjcwMTJydDY-JUAQBv0DIq</recordid><startdate>20210609</startdate><enddate>20210609</enddate><creator>MOON SUNG TAE</creator><scope>EVB</scope></search><sort><creationdate>20210609</creationdate><title>Method and system for leader-follower formation crowding flight</title><author>MOON SUNG TAE</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_KR102263704BB13</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng ; kor</language><creationdate>2021</creationdate><topic>ANALOGOUS ARRANGEMENTS USING OTHER WAVES</topic><topic>CONTROLLING</topic><topic>DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES</topic><topic>LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES</topic><topic>MEASURING</topic><topic>PHYSICS</topic><topic>RADIO DIRECTION-FINDING</topic><topic>RADIO NAVIGATION</topic><topic>REGULATING</topic><topic>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</topic><topic>TESTING</topic><toplevel>online_resources</toplevel><creatorcontrib>MOON SUNG TAE</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>MOON SUNG TAE</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Method and system for leader-follower formation crowding flight</title><date>2021-06-09</date><risdate>2021</risdate><abstract>The present invention relates to a leader-following swarm flight method and system. The method according to the present invention comprises the steps of: allowing a leader flight vehicle (hereinafter referred to as "leader") to broadcast a target relative position to be maintained by following flight vehicles (hereinafter referred to as "followers") with respect to the leader; allowing the leader to broadcast real time kinematic-GPS (RTK-GPS) calibration information; allowing the followers to calculate the current relative position of the followers with respect to the leader using the RTK-GPS calibration information; and allowing the followers to move in a direction in which a difference between the current relative position and the target relative position decreases. According to the present invention, it is possible to perform a leader-following swarm flight without the need for an RTK-GPS base station on the ground while reducing the amount of data communication.
본 발명은 리더 추종 기반 군집 비행 방법 및 시스템에 관한 것으로, 본 발명에 따른 방법은 리더 비행체가 리더 비행체를 기준으로 팔로우 비행체가 유지해야 하는 목표 상대 위치를 브로드캐스팅하는 단계, 리더 비행체가 RTK-GPS(Real Time Kinematic-GPS) 교정 정보를 브로드캐스팅하는 단계, 팔로우 비행체가 RTK-GPS 교정 정보를 이용하여 리더 비행체를 기준으로 팔로우 비행체의 현재 상대 위치를 계산하는 단계, 팔로우 비행체가 현재 상대 위치와 목표 상대 위치의 차이가 줄어드는 방향으로 이동하는 단계를 포함한다. 본 발명에 의하면 데이터 통신량을 줄이면서 지상의 RTK-GPS 기지국이 필요없는 리더 추종 군집 비행을 할 수 있다.</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | ANALOGOUS ARRANGEMENTS USING OTHER WAVES CONTROLLING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING |
| title | Method and system for leader-follower formation crowding flight |
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