KR102025687B1 - Autonomous flight system using dual GPS and method thereof - Google Patents

Abstract

The present invention discloses an autonomous flight system and method using dual GPS. That is, the present invention collects a plurality of position information related to the drone when the image information is obtained by using a plurality of GPS modules provided in the drone, the position information about the flying target area and the position of the obstacle using the position measuring device Measure information, generate a flight path for autonomous flight using a drone based on the collected plurality of location information, image information, location information about the measured flight target area and location information on an obstacle, and By performing a specific function using the drone on the basis of the generated flight path, high precision flight is possible, so that the optimal flight altitude for the flying target region can be maintained and the function can be efficiently performed.

Description

Autonomous flight system using dual GPS and method

The present invention relates to an autonomous flight system and a method using dual GPS, and in particular, by using a plurality of GPS modules provided in the drone to collect a plurality of position information related to the drone when obtaining image information, and using a position measuring device Measure location information about the target area and the location information of the obstacle, and use the drone based on the collected plurality of location information, image information, the location information about the measured flight target area and the location information of the obstacle The present invention relates to an autonomous flight system and method using dual GPS that generates a flight path for autonomous flight, and performs a specific function using the drone based on the generated flight path.

In the field of control, unmanned aerial vehicles are used to perform effective control over large areas.

In such an unmanned aerial vehicle, a person checks the flight status of an unmanned aerial vehicle through a monitoring system, and performs an adjustment for the unmanned aerial vehicle, and accidents due to an adjustment mistake are increasing.

In addition, a digital compass based on microelectromechanical systems (MEMS) has a heading accuracy of 1 to 2 degrees, which results in constant heading errors while the unmanned aerial vehicle performs high precision automatic flight and data acquisition. This reduces the accuracy of the flight and the accuracy of the data collected is low.

In addition, if the position of the GPS antenna provided in the unmanned aerial vehicle is far from the flight controller of the unmanned aerial vehicle to check the real-time position of the unmanned aerial vehicle, the unmanned aerial vehicle must correct the position information collected by the GPS antenna. As a result, the magnetic sensing value is severely changed, which may cause a flight error.

Registered Korean Patent No. 10-1594313 [Name: Multicopter system for unmanned aerial vehicle control]

An object of the present invention is to shoot the image information on the flight target area through the camera provided on one side of the drone, and collect the position information of the plurality of drones related to the shooting position of the image information through a plurality of GPS receiver, respectively, Generating a flight path for autonomous flight using a drone based on the captured image information and location information of a plurality of drones related to the corresponding image information, and performing a specific function using the drone based on the generated flight path To provide an autonomous flight system and method using dual GPS.

Another object of the present invention is to measure the position information and the position information on the obstacle to fly area using the position measurement device, and based on the measured position information and the position information on the obstacle to the flying target area The present invention provides an autonomous flight system and method using dual GPS that generates a flight path for autonomous flight using and performs a specific function using the drone based on the generated flight path.

In the autonomous flight method using the dual GPS according to the embodiment of the present invention, in the autonomous flight method using the dual GPS, the position measuring device, the position information for a plurality of points included in the flight target area, Collecting location information on at least one obstacle included, visual information at a time point of measuring the plurality of points and location information on the obstacle, and height information on the at least one obstacle; Location information on a plurality of points included in the collected flying target area, location information on one or more obstacles included in the flying target area, and location information on the plurality of points and the obstacles, by the location measuring device; Transmitting visual information at the time of measurement, height information of the at least one obstacle, and identification information of the position measuring device to a path providing device; By the route providing device, position information on a plurality of points included in the flying target region transmitted from the position measuring device, position information on one or more obstacles included in the flying target region, a plurality of points and the obstacles. Generating a flight path for the flying target area based on visual information at a time of measuring the positional information about the location information, height information of the at least one obstacle, and additional information related to the flying target area previously stored in the path providing device; And transmitting, by the route providing device, the generated flight route to the drone associated with the flight target area.

As an example related to the present invention, the generating of the flight path for the flying target region may include: when the height of the obstacle is greater than a reference height obtained by subtracting a preset first value from the flying altitude of the drone, The flight path may be created to avoid corresponding obstacles.

As an example related to the present invention, the generating of the flight path for the flying target area may include: when the height of the obstacle is less than or equal to a reference height minus a preset first value from the flying altitude of the drone, It is possible to create the flight path that can pass through the obstacle corresponding to the height.

Receiving, by the drone as an example related to the present invention, a flight path associated with the flight target area transmitted from the path providing device; The method may further include performing, by the drone, a specific function preset for the flying target area based on the plurality of location information and the flight path collected by the drone.

In the autonomous flight system using the dual GPS according to the embodiment of the present invention, in the autonomous flight system using the dual GPS, position information on a plurality of points included in the flying target area, at least one obstacle included in the flying target area Collecting location information about the plurality of points, time information at the time of measuring the location information on the obstacles, height information of the one or more obstacles, location information on the plurality of points included in the collected flying target area, and Position measurement for transmitting position information on one or more obstacles included in a flight target area, visual information at the time of measuring the plurality of points and position information on the obstacles, height information of the one or more obstacles, and identification information of a position measuring device. Device; Location information on a plurality of points included in the flying target area transmitted from the location measuring device, location information on one or more obstacles included in the flying target area, a plurality of points, and a time point at the time of measuring the location information on the obstacles Generate a flight path for the flying target area based on the information, the height information of the one or more obstacles, and additional information related to the flying target area previously stored in the path providing device; The route providing device for transmitting to the related drone; And receiving a flight path related to the flight target area transmitted from the path providing device, and performing a specific function preset for the flight target area based on the plurality of position information and the flight path collected by the drone. It may include the drone.

The present invention captures the image information on the flight target area through the camera provided on one side of the drone, and collects the position information of the plurality of drones related to the shooting position of the image information through a plurality of GPS receivers, respectively, By generating a flight path for autonomous flight using a drone based on the image information and the position information of the plurality of drones related to the image information, and performing a specific function by using the drone based on the generated flight path, It is possible to fly, maintaining the optimal flight altitude for the flying target area, and has the effect of performing the function efficiently.

In addition, the present invention measures the position information on the flying target area and the position information on the obstacle using a position measuring device, and using a drone based on the measured position information on the flying target area and the position information on the obstacle. By generating a flight path for autonomous flight and performing a specific function using the drone on the basis of the generated flight path, it is possible to increase work efficiency and reduce operating costs.

1 is a block diagram showing the configuration of an autonomous flight system using dual GPS according to an embodiment of the present invention.
2 and 3 is a block diagram showing the configuration of a drone according to an embodiment of the present invention.
4 is a block diagram showing a configuration of a position measuring device according to an embodiment of the present invention.
5 is a block diagram showing the configuration of a path providing apparatus according to an embodiment of the present invention.
6 is a flowchart illustrating an autonomous flight method using dual GPS according to an embodiment of the present invention.
7 is a view showing a flight target area according to an embodiment of the present invention.
8 to 10 are diagrams showing an example of a flight path according to an embodiment of the present invention.

It should be noted that the technical terms used in the present invention are merely used to describe specific embodiments, and are not intended to limit the present invention. In addition, the technical terms used in the present invention should be interpreted as meanings generally understood by those skilled in the art unless the present invention has a special meaning defined in the present invention, and is excessively comprehensive. It should not be interpreted in the sense of or in the sense of being excessively reduced. In addition, when a technical term used in the present invention is an incorrect technical term that does not accurately express the spirit of the present invention, it should be replaced with a technical term that can be understood by those skilled in the art. In addition, the general terms used in the present invention should be interpreted as defined in the dictionary or according to the context before and after, and should not be interpreted in an excessively reduced sense.

Also, the singular forms used in the present invention include plural forms unless the context clearly indicates otherwise. Terms such as “consisting of” or “comprising” in the present invention should not be construed as necessarily including all of the various components or steps described in the present invention, and some of the components or some steps may not be included. It should be construed that it may further include, or further include, additional components or steps.

In addition, terms including ordinal numbers such as first and second used in the present invention may be used to describe components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or similar components will be given the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted.

In addition, in describing the present invention, when it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, it should be noted that the accompanying drawings are only for easily understanding the spirit of the present invention and should not be construed as limiting the spirit of the present invention by the accompanying drawings.

1 is a block diagram showing the configuration of an autonomous flight system 10 using dual GPS according to an embodiment of the present invention.

As shown in FIG. 1, the autonomous flight system 10 includes a drone 100, a position measuring device 200, and a path providing device 300. Not all components of the autonomous flight system 10 shown in FIG. 1 are essential components, and the autonomous flight system 10 may be implemented by more components than those shown in FIG. The autonomous flight system 10 may also be implemented by components.

The drone 100 represents a drone (or unmanned aerial vehicle) in the form of an airplane or helicopter that can be piloted by radio wave guidance without a pilot.

As shown in FIG. 2 and FIG. 3, the drone 100 includes a main body 110, a plurality of first RTK GPS modules 120, a photographing unit 130, a first communication unit 140, and a first storage unit. And a first display unit 160 and a first control unit 170. Not all components of the drone 100 illustrated in FIGS. 2 and 3 are essential components, and the drone 100 may be implemented by more components than those illustrated in FIGS. 2 and 3. The drone 100 may also be implemented by fewer components.

The body (or body) 110 is a main frame of the drone 100.

In addition, the body 110 may be configured using a variety of materials (eg, silicon, special alloy material, etc.) used in the aviation field.

The first RTK GPS (Real Time Kinematic Global Positioning System) module 120 measures the current position of the drone 100 in real time and provides very precise position information with a position error within 5 cm.

That is, the first RTK GPS module 120 receives the GPS signal transmitted from the satellite and generates the location data of the drone 100 in real time based on the longitude and latitude coordinates included in the received GPS signal. The generated position data is output to the first controller 170. Here, the generated position data is defined as the current position (or current position data) of the drone 100. In this case, the plurality of position data generated by the plurality of first RTK GPS modules 120 may be used to indicate the current position of the drone 100.

In addition, the signal received through the first RTK GPS module 120 is 802.11 and the standard of the wireless network for wireless LAN, including wireless LAN and some infrared communication proposed by the Institute of Electrical and Electronics Engineers (IEEE) 802.15, the standard for wireless personal area networks (PANs) including Bluetooth, UWB, ZigBee, and wireless metropolitan area networks (MAN), including fixed wireless access (FWA), and broadband wireless access 802.16, the standard for Broadband Wireless Access (BWA), and 802.20, the standard for the Mobile Internet for Mobile Broadband Wireless Access (MBWA), including Wibro, WiMAX, etc. The wireless terminal may be configured to provide location information of the drone 100 to the drone 100 using a wireless communication method.

In addition, the plurality of first RTK GPS module 120 may be a dual-antenna RTK GPS capable of maintaining heading accuracy up to 0.2 degrees, and the heading information and data measured using velocity in the RTK GPS are fused. By reducing the heading mismatch can increase the stability according to the flight of the drone (100).

In addition, in the case of the dual antennas respectively included in the plurality of first RTK GPS module 120, the installation (or design / arrangement) to maintain a predetermined interval (for example 50cm) on the same surface of one side of the main body 110 )do.

In addition, the mount height of the dual antenna is set to be the same.

The photographing unit 130 is installed (or mounted) on an outer portion of the main body 110.

In addition, the photographing unit 130 performs a photographing function on a specific area under the control of the controller 170, and provides photographed image information to the controller 170.

That is, the photographing unit 130 includes an image sensor (camera module or camera) capable of capturing a high resolution image having a resolution of 3 cm / pixel or more, and processes an image frame such as a still image or a video obtained by the image sensor. . That is, corresponding image data obtained by the image sensor is encoded / decoded according to each standard according to a codec. The processed image frame may be provided to the first controller 170.

The first communication unit 140 communicates with any component inside or any at least one terminal outside via a wired / wireless communication network. In this case, the external arbitrary terminal may include the location measuring device 200, the path providing device 300, and the like. Here, the wireless Internet technologies include a wireless LAN (WLAN), a digital living network alliance (DLNA), a wireless broadband (Wibro), a WiMAX (World Interoperability for Microwave Access (Wimax), and a HSDPA (High Speed Downlink Packet Access). ), HSUPA (High Speed Uplink Packet Access), IEEE 802.16, Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), Wireless Mobile Broadband Service (WMBS), etc. In this case, the communication unit 110 transmits and receives data according to at least one wireless Internet technology in a range including Internet technologies not listed above. In addition, near field communication technologies include Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, and Near Field Communication (NFC). Ultrasound Communication (USC), Visible Light Communication (VLC), Wi-Fi, Wi-Fi Direct, and the like may be included. In addition, the wired communication technology may include power line communication (PLC), USB communication, Ethernet, serial communication, serial communication, optical / coaxial cable, and the like.

In addition, the first communicator 140 may mutually transmit information with an arbitrary terminal through a universal serial bus (USB).

In addition, the first communication unit 140 may be technical standards or communication schemes (eg, Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), and Code Division Multi Access 2000 (CDMA2000)). Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), Wideband CDMA (WCDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), LTE The base station, the location measuring device 200, the path providing device 300 and the like are transmitted and received on a mobile communication network constructed according to -A (Long Term Evolution-Advanced).

The first communication unit 140 may further include image information regarding the collected (or acquired / photographed) flight target area under control of the first control unit 170, a plurality of location information related to the image information, The visual information related to the image information, the identification information of the drone 100, and the like are transmitted to the route providing apparatus 300. Here, the identification information of the drone 100 includes a unique code (or unique number) of the drone 100, and the like.

In addition, the first communication unit 140 receives a flight path and the like associated with an arbitrary flight target area transmitted from the path providing apparatus 300 under the control of the first control unit 170.

The first storage unit 150 stores various user interfaces (UIs), graphical user interfaces (GUIs), and the like.

In addition, the first storage unit 150 stores data and programs required for the drone 100 to operate.

That is, the first storage unit 150 may store a plurality of application programs or applications that are driven by the drone 100, data for operating the drone 100, and instructions. At least some of these applications may be downloaded from an external server via wireless communication. Meanwhile, an application program may be stored in the first storage unit 150 and installed in the drone 100 to be driven by the first controller 170 to perform an operation (or function) of the drone 100. have.

In addition, the first storage unit 150 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg, SD). Or XD memory), magnetic memory, magnetic disk, optical disk, random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory ), And at least one storage medium of PROM (Programmable Read-Only Memory). In addition, the drone 100 may operate a web storage that performs a storage function of the first storage unit 150 on the Internet, or may operate in connection with the web storage.

In addition, the first storage unit 150 stores a flight path and the like related to the arbitrary flight target area received through the first communication unit 140.

The first display unit 160 may display various contents such as various menu screens using a user interface and / or a graphic user interface stored in the first storage unit 150 under the control of the first control unit 170. Can be. Here, the content displayed on the first display unit 160 includes a menu screen including various text or image data (including various information data) and data such as icons, list menus, combo boxes, and the like. In addition, the first display unit 160 may be a touch screen.

In addition, the first display unit 160 may include a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), The display device may include at least one of a flexible display, a 3D display, an e-ink display, and a light emitting diode (LED).

In addition, the first display unit 160 displays information corresponding to the received flight path or the like under the control of the first controller 170.

In addition, the first display unit 160 further includes one or more LEDs to operate the drone 100 (for example, the on / off state of the drone 100 and whether or not an error occurs in the drone 100). Status, etc.) may be displayed.

The first controller 170 executes an overall control function of the drone 100.

In addition, the first controller 170 executes an overall control function of the drone 100 using the program and data stored in the first storage unit 150. The first controller 170 may include a RAM, a ROM, a CPU, a GPU, and a bus, and the RAM, ROM, CPU, GPU, and the like may be connected to each other through a bus. The CPU may access the first storage unit 150 to boot using the O / S stored in the first storage unit 150, and various programs, contents, and data stored in the first storage unit 150 may be performed. Various operations can be performed by using such a method.

In addition, the first controller 170 controls the photographing unit 130 to photograph (or acquire / collect) image information about a flight target area.

In addition, the first control unit 170 collects a plurality of positional information on the point at which the image information is photographed, time information at the time of photographing the corresponding image information, etc. through the plurality of first RTK GPS modules 120. (Or obtain).

That is, the first controller 170 may capture (or acquire / collect) image information on the flying target area by remote control by a user or by automatic flight of the corresponding drone 100 according to a preset path. The photographing unit 130 is controlled and the plurality of first RTK GPS modules 120 are controlled to collect a plurality of location information and / or visual information related to the corresponding image information.

In addition, the first controller 170 may include image information about the collected (or obtained) flight target area, a plurality of position information related to the image information, visual information related to the image information, and the drone 100. The identification information and the like are transmitted to the path providing apparatus 300 through the first communication unit 140.

In addition, the first controller 170 receives a flight path transmitted from the path providing apparatus 300 through the first communication unit 140.

In addition, the first controller 170 stores the flight paths related to the received arbitrary flight target area in the first storage unit 150.

In addition, the first controller 170 displays a flight path associated with the received arbitrary flight target area on the first display unit 160.

In addition, the first controller 170 may include flight date and time information included in the flight path, and a plurality of location information of the drone 100 which is confirmed in real time through the plurality of first RTK GPS modules 120. Control the operation of the drone 100 on the basis of such as to perform a specific function set for the flight path. Here, the specific function is a control function for the control / flight target area using a pesticide provided on one side of the drone 100, the monitoring function through a camera (not shown) provided on one side of the drone 100 , A collection function such as weather information through a sensor unit (not shown) provided at one side of the drone 100.

At this time, the first control unit 170 is a coordinate value obtained from the two antennas a plurality of position information (or a plurality of coordinates) associated with the drone 100 collected by the plurality of first RTK GPS module 120 Since it is set to the center on the basis of the, it is arranged to be located in the center of the main body 110, the plurality of first RTK GPS module 120 (or a plurality of included in the plurality of first RTK GPS module 120) / Dual antenna) to be positioned in the center of the.

In addition, the first control unit 170 performs a flight by matching a value set with reference to a plurality of position information and heading information related to the drone 100 received from the center of the main body 110 based on the flight. In addition, the drone 100 may control the flight path by tracking the flight path more accurately.

In this case, the drone 100 solves (or prevents) a point of failure by using a multi-sensor (not shown).

In addition, the drone 100 may perform an automatic ice function, an alarm function, and an automatic return function when an error occurs during flight.

In addition, the drone 100 may actively respond to an earth magnetic field and a surrounding magnetic field by using the plurality of first RTK GPS modules 120.

In addition, the drone 100 is equipped with a large-capacity control tank (not shown) (for example, 16 liters, 20 liters, and the like tank) for performing the control function, it is possible to perform the control for up to 2.5ha once have.

In addition, the drone 100 can maximize the control effect with a strong downward wind of the 32-inch large propeller.

In addition, the drone 100 may be configured to ensure uniform control at all times through the automatic control of pesticide injection amount according to the flight speed.

In addition, the drone 100 by the control tail biting function (or the control to continue control at the previous control stop position), even if the execution of the control during the execution of the control for a variety of reasons, the control function again from the point after the pause Can be configured to perform

In addition, the drone 100 may be configured to maintain a optimum flight altitude by applying a lidar sensor (not shown).

In addition, the drone 100 may be configured to apply an air blast nozzle (not shown) of high precision and high efficiency.

As shown in FIG. 4, the position measuring apparatus 200 may include a tripod 210, a second RTK GPS module 220, a second communication unit 230, a second storage unit 240, and a second display unit 250. ), A sensor unit 260, and a second control unit 270. Not all components of the position measuring device 200 shown in FIG. 4 are essential components, and the position measuring device 200 may be implemented by more components than those shown in FIG. The position measuring device 200 may also be implemented by the component.

The tripod (or body / body) 210 is used to fix the position measuring device 200 from the bottom (or the ground), and may be composed of various materials (eg, plastic, steel, etc.). .

The second RTK GPS module 220 is formed on one side of the tripod 210, and measures the position information for the current position as the first RTK GPS module 120 described above.

That is, the second RTK GPS module 220 measures position information of a plurality of points included in the flight target area. In this case, the second RTK GPS module 220 measures the location information in a plurality of locations for the same point and / or obstacles with respect to the point and / or obstacles, and a plurality of locations for the measured points and / or obstacles Only when the information satisfies a preset error range, location information on the corresponding point and / or the obstacle may be determined. Here, the obstacle may be an object that may affect the flight of the drone 100, such as a pylon, telephone pole, building, and the like.

In addition, when the preset error range between continuous position information for the same point and / or obstacle is measured, the second RTK GPS module 220 may satisfy the corresponding error range for the point and / or obstacle. The location information can be measured repeatedly until.

In addition, the second RTK GPS module 220 provides the second control unit 270 with location information on the measured current point.

The second communication unit 230 is formed on one side of the tripod 210, it may be configured in the same manner as the first communication unit 140 described above.

In addition, the second communication unit 230 may provide the position information and the flight target area with respect to a plurality of points included in the measured (or collected / acquired) flight target area under the control of the second control unit 270. Location information on one or more obstacles included, a plurality of points and visual information at the time of measuring the location information on the obstacles, height information on the one or more obstacles (or height information of the obstacles / height information from the surface), location measurement The identification information of the device 200 is transmitted to the path providing device 300.

The second storage unit 240 is formed on one side of the tripod 210, and may be configured in the same manner as the first storage unit 150 described above.

In addition, the second storage unit 240 is location information about a plurality of points included in the measured (or collected / acquired) flying target area under the control of the second control unit 270, the flying target area Stores position information on at least one obstacle, a plurality of points and time information at the time of measuring position information on the obstacle, height information on the at least one obstacle, and the like.

The second display unit 250 is formed on one side of the tripod 210, and may be configured in the same manner as the second display unit 160 described above.

In addition, the second display unit 250 displays an operation state of the position measuring device 200 and the like.

The sensor unit 260 may be formed at one side of the tripod 210 and may include a sensor for measuring the height or altitude of an object (eg, an obstacle such as a pylon, telephone pole, building, etc.).

In addition, the sensor unit 260 measures (or collects / acquires) height information about the one or more obstacles under the control of the second controller 270. In this case, the height information of the obstacle may be any one of the height of the obstacle and the height from the ground surface.

In addition, the sensor unit 260 may measure the area (or cross-sectional area), volume, and the like of the one or more obstacles under the control of the second controller 270.

In addition, the sensor unit 260 may generate (or measure) a three-dimensional image of the one or more obstacles under the control of the second controller 270.

The second control unit 270 is formed on one side of the tripod 210, it may be configured in the same manner as the first control unit 170 described above.

In addition, the second control unit 270 executes an overall control function of the position measuring device 200.

In addition, the second control unit 270 executes the overall control function of the position measuring apparatus 200 by using the program and data stored in the second storage unit 240.

In addition, the second controller 270 controls the second RTK GPS module 220 to measure location information of a plurality of points included in the flight target area, respectively. Here, the point is for indicating the flying target region, and may be a point corresponding to an inflection point among the flying target region, an arbitrary point of an outline of the flying target region, and the like.

That is, the second controller 270 may include location information on a plurality of points included in the flying target area, location information on one or more obstacles included in the flying target area, the plurality of points, and positions on the obstacles. Measurement (or collection / acquisition) of visual information at the time of information measurement is performed.

In addition, the second control unit 270 controls the sensor unit 260 to measure height information on at least one obstacle included in the flying target area, respectively.

In addition, the second control unit 270 may include location information on a plurality of points included in the measured (or collected / obtained) flight target area, location information on one or more obstacles included in the flight target area, and a plurality of points. The second communication unit may include visual information of a point of time and location information of the obstacle at the time of measurement, height information of the one or more obstacles (or height information of the one or more obstacles), identification information of the location measuring device 200, and the like. It transmits to the path providing apparatus 300 through 230. Here, the identification information of the position measuring device 200 includes a unique code (or unique number) of the position measuring device 200 and the like.

The route providing device (or mission planner) 300 communicates with the drone 100, the position measuring device 200, and the like.

As shown in FIG. 5, the path providing apparatus 300 may include a third communication unit 310, a third storage unit 320, a third display unit 330, a third voice output unit 340, and a third control unit. It consists of 350. Not all components of the path providing apparatus 300 shown in FIG. 5 are essential components, and the path providing apparatus 300 may be implemented by more components than those shown in FIG. The path providing device 300 may also be implemented by the component.

The third communication unit 310 may be configured in the same manner as the first communication unit 140 described above.

In addition, the third communication unit 310 may include image information about a flight target area transmitted from the drone 100 and / or the route providing apparatus 300, a plurality of position information related to the image information, and the image information. Relevant visual information, identification information of the drone 100, location information on a plurality of points included in the flight target area, location information on one or more obstacles included in the flight target area, a plurality of points and locations on the obstacle Visual information at the time of measuring the information, height information of the at least one obstacle, identification information of the position measuring device 200, and the like are received.

The third storage unit 320 may be configured in the same manner as the first storage unit 150 described above.

In addition, the third storage unit 320 is the image information on the received flight target area, a plurality of position information associated with the image information, visual information associated with the image information, identification information of the drone 100, flight Location information of a plurality of points included in a target area, location information of one or more obstacles included in a flight target area, visual information of a plurality of points and location information of the location information of the obstacles, height information of the one or more obstacles , Identification information of the position measuring device 200, and the like.

The third display unit 330 may be configured in the same manner as the first display unit 160 described above.

In addition, the third display unit 330 is the image information on the received flight target area, a plurality of location information associated with the image information, visual information associated with the image information, identification information of the drone 100, flight target Location information of a plurality of points included in an area, location information of one or more obstacles included in a flight target area, visual information of a plurality of points and location information measurement time of the obstacles, height information of the one or more obstacles, The identification information of the position measuring device 200 is displayed.

The third voice output unit 340 outputs voice information included in a signal subjected to a predetermined signal processing by the third control unit 350. Here, the third voice output unit 340 may include a receiver, a speaker, a buzzer, and the like.

In addition, the third voice output unit 340 outputs the guide voice generated by the third control unit 350.

In addition, the third audio output unit 340 may be configured to receive the image information on the flying target region received by the third controller 350, a plurality of position information related to the image information, visual information related to the image information, The identification information of the drone 100, location information of a plurality of points included in the flying target area, location information of one or more obstacles included in the flying target area, a plurality of points, and location information of the location information measurement time point The voice information corresponding to the time information, the height information of the at least one obstacle, the identification information of the position measuring device 200, and the like are output.

The third controller 350 may be configured in the same manner as the first controller 170 described above.

In addition, the third controller 350 executes an overall control function of the route providing apparatus 300.

In addition, the third controller 350 executes an overall control function of the path providing apparatus 300 by using the program and data stored in the third storage unit 320.

In addition, the third controller 350 may include a RAM, a ROM, a CPU, a GPU, and a bus, and the RAM, ROM, CPU, and GPU may be connected to each other through a bus. The CPU may access the third storage unit 320 to boot using the O / S stored in the third storage unit 320, and various programs, contents, and data stored in the third storage unit 320 may be performed. Various operations can be performed by using such a method.

In addition, the third controller 350 may include image information of a flight target area transmitted from the drone 100, a plurality of position information related to the image information, visual information related to the image information, and the drone 100. The identification information and the like are received through the third communication unit 310.

In addition, the third controller 350 may include location information on a plurality of points included in the flying target area transmitted from the location measuring device 200, location information on one or more obstacles included in the flying target area, and a plurality of points. The visual information of the point and the position information measurement time of the obstacle, the height information of the one or more obstacles, the identification information of the position measuring device 200, etc. are received through the third communication unit 310.

In addition, the third controller 350 may include the received image information related to the flying target region, a plurality of position information related to the image information, visual information relating to the image information, and a plurality of points included in the flying target region. Location information about the at least one obstacle included in the flight target area, a plurality of points, and time information at the time of measuring the location information of the obstacle, height information of the at least one obstacle, and the third storage unit ( Date and time to perform a specific function based on additional information related to the flight target area (e.g., obstacle information, weather forecast information for a specific date for which the user wishes to perform a specific function, etc.) previously stored in 320). Create a flight path for the flight target area including the information. In this case, the weather forecast information includes wind direction, wind speed, temperature, humidity, fog status, rain / snow probability (or precipitation probability) for each region / area.

That is, the third control unit 350 may store in advance the received image information related to the flying target region, a plurality of position information related to the image information, visual information related to the image information, and the third storage unit 320. Generate a flight path for the flying target area based on the stored additional information related to the flying target area (for example, obstacle information, weather forecast information for a specific date to perform a specific function), and the like. . In this case, the third control unit 350 may analyze the image information to generate the flight path that avoids an object such as an obstacle in the corresponding image. In addition, the third control unit 350 may accurately identify (or confirm) the location where the image information is captured based on the plurality of location information related to the image information. In addition, the third controller 350 receives a flight target area (or information on a flight target area) according to a manager (or user) selection (or setting) of the image information displayed on the third display unit 330. Position information corresponding to the image information, time information corresponding to the image information, and additional information related to the flying object region previously stored in the third storage unit 320 with respect to the received (or selected) flying object region. Etc., a flight path may be generated for the received (or selected) flight target area.

In addition, the third control unit 350 may include location information on a plurality of points included in the received flight target area, location information on the one or more obstacles, visual information at a time point of measuring location information, and Based on height information and additional information related to the flight target area pre-stored in the third storage unit 320 (eg, including obstacle information, weather forecast information on a specific date for which a current or specific function is to be performed), and the like. As a result, a flight path for the flight target area is generated.

In this case, the height of the obstacle (or the altitude of the obstacle) is the reference height (or reference value / reference altitude) minus the first value set in advance from the flight altitude (or flight height / average flight altitude / average flight height) of the drone 100 If greater than), the third controller 350 generates the flight path to avoid the obstacle.

In addition, when the height of the obstacle (or the altitude of the obstacle) is less than or equal to the reference height (or reference value / reference altitude) minus the preset first value from the flying altitude (or flying height) of the drone 100, The third controller 350 generates the flight path through which the corresponding obstacle can pass.

As such, when the height (or altitude) of the obstacle is within the height (or altitude) at which the drone 100 can fly, the third controller 350 generates a flight path through which the obstacle can pass, and the obstacle When the height of the drone 100 is close to or exceeds the height that can fly, the flight path may be generated to avoid the obstacle.

In addition, the third controller 350 matches the image information photographed through an artificial satellite (not shown), an aircraft (not shown), and the image information and location information photographed through the drone 100 to each other. Image information to be used may also be generated. In addition, the third controller 350 may include image information generated by matching image information photographed through the satellite, aircraft, and the like and image information photographed through the drone 100, and the third storage unit. The flight path for the flight target area may be generated based on additional information related to the flight target area previously stored in the 320.

In addition, the third controller 350 transmits the generated flight path to the drone 100 associated with the flight target area through the third communication unit 310. In this case, the drone 100 related to the flight target area may be in a preset state with respect to the corresponding flight target area, and after the flight path generation, the drone 100 may be selected by the manager (or manager setting) of the path providing device 300. It may be selected accordingly.

In the exemplary embodiment of the present invention, after the image information related to the flying target region and / or the plurality of position information related to the flying target region are collected by using the drone 100 or the position measuring apparatus 200, the route providing apparatus 300 is provided. Although a flight path is generated based on image information and / or a plurality of location information related to a flight target region collected in the above, the flight function is performed using the drone 100 through the generated flight path. However, the present invention is not limited thereto, and after collecting image information related to an arbitrary area and / or a plurality of location information related to an arbitrary area by using the drone 100 or the location measuring device 200, the path providing device Generate a specific path for performing a specific function based on the image information and / or a plurality of location information related to the arbitrary area collected at 300, and the generated specific The specific function may be performed using the drone 100 through a path. In this case, the specific function may include an information collection function, a weather information collection function, a function for monitoring / security, etc. for the arbitrary region.

As such, by interlocking between the drone 100, the location measuring device 200, and the path providing device 300, various information collection functions, a monitoring function, and the like may be performed as well as a control function.

In addition, as described above, image information about the flying target region is photographed through a camera provided at one side of the drone, and the position information of the plurality of drones related to the photographing position of the image information is collected through the plurality of GPS receivers, respectively. Generate a flight path for autonomous flight using a drone based on the captured image information and location information of a plurality of drones related to the corresponding image information, and perform a specific function using the drone based on the generated flight path. Can be.

In addition, as described above, the position information of the flying target area and the position information of the obstacle are measured using the position measuring device, and the drone is used based on the measured position information of the flying target area and the position information of the obstacle. A flight path for autonomous flight may be generated and a specific function may be performed using the drone based on the generated flight path.

Hereinafter, an autonomous flight method using dual GPS according to the present invention will be described in detail with reference to FIGS. 1 to 10.

6 is a flowchart illustrating an autonomous flight method using dual GPS according to an embodiment of the present invention.

First, the drone 100 is remotely or automatically controlled by the image information on the flight target area (for example, the control target area, monitoring target area, information collection target area, weather information collection target area, etc.), the corresponding video information Collecting (or obtaining) a plurality of location information on the location of the photographing, time information of the time point at which the corresponding image information is photographed. In this case, the drone 100 includes a plurality of drones 100 associated with the drone 100 at the time of capturing the image information by using a plurality of first RTK GPS modules 120 respectively configured at a plurality of positions of the drone 100. Location information (or a plurality of location information about the drone 100 related to the corresponding image information) is collected respectively.

That is, the drone 100 captures (or acquires / collects) image information on the flying target region by remote control by a user or automatic flight of the drone 100 according to a preset path, and the image information. Collect a plurality of location information and / or time information related to the. In this case, the collected image information may be a high resolution image having a resolution of 3 cm / pixel or more.

The drone 100 may further include image information about the collected (or obtained) flight target area, a plurality of position information related to the image information, visual information related to the image information, and identification information of the drone 100. Etc. are transmitted to the path providing apparatus 300. Here, the identification information of the drone 100 includes a unique code (or unique number) of the drone 100, and the like.

For example, the first drone 100 captures a first aerial image including a first control target area to be controlled through a remote control by a user, and captures a first aerial image of the first drone at the time of capturing the first aerial image. The first location information, the second location information, and the time information are collected. In this case, as shown in FIG. 3, the first drone includes first location information and second location information of the first drone through two first RTK GPS modules respectively provided on the same surface of one side of the first drone. Location information can be collected separately.

The first drone may include the first position information and the second position information of the first drone at the time point at which the first aerial image is captured, the first aerial image at the time of capturing the first aerial image, and the first aerial image point at which the first aerial image is collected. The time information of the first drone, the identification information of the first drone, and the like are transmitted to the route providing apparatus 300 (S610).

In addition, the position measuring apparatus 200 may include position information on a plurality of points included in the flying target area, position information on one or more obstacles included in the flying target area, position information on the plurality of points and the obstacles. Visual information at the time of measurement, height information of the at least one obstacle (or height information of the obstacle / height information from the surface), etc. are measured (or collected / acquired). Here, the point is for indicating the flying target region, and may be a point corresponding to an inflection point among the flying target region, an arbitrary point of an outline of the flying target region, and the like. At this time, the position measuring device 200 measures the position information in a plurality of the same point and / or obstacles with respect to the point and / or obstacle, and the plurality of position information for the same point and / or obstacle measured Only when the predetermined error range is satisfied, location information on the corresponding point and / or the obstacle may be determined. In addition, the height information of the obstacle may be the height of the obstacle or the height from the ground surface.

In addition, in the case of a deviation from a preset error range between consecutive measured position information for the same point and / or obstacle, the position measuring apparatus 200 may satisfy the corresponding error range for the point and / or obstacle. The location information can be measured repeatedly.

In addition, the position measuring apparatus 200 may include position information on a plurality of points included in the measured (or collected / acquired) flying target area, position information on one or more obstacles included in the flying target area, and a plurality of points. Time information of the point of time and position information of the obstacle, time information of the measurement point, height information of the one or more obstacles (or height information of the one or more obstacles), identification information of the position measuring device 200, and the like. 300). Here, the identification information of the position measuring device 200 includes a unique code (or unique number) of the position measuring device 200 and the like.

For example, as illustrated in FIG. 7, the first position measuring apparatus 200 may include four vertices in a quadrangular structure of the second control region 750 with respect to the second control region 750 having a quadrangular shape. The first position information and the fourth position information are respectively measured at 710, 720, 730, and 740. In this case, the first position measuring device first measures position information for each of the four vertices 710, 720, 730, and 740, and then the same point after a preset first time (for example, 10 seconds) passes. When the position information is measured secondly and the error between the first and second measured position information is within a preset error range, the position information of any one of the first and second measured position information is previously determined. It can also be determined by the location information for. In addition, when the error between the first and second measured position information is out of a preset error range, the position information is measured in the third order again after the preset first time, and the second and third measured positions. Repeating the process of determining whether the error between the information is within the error range, iteratively performed until the error between the continuously measured position information satisfies within the error range, and finally the position information for the point You can also confirm.

In addition, the first position measuring apparatus measures fifth position information of the first telegraph pole 760 and first height information of the first telegraph pole included in one side of the second control target area 750, respectively.

The first position measuring apparatus may further include first position information to fourth position information measured in relation to the second control target area 750, fifth position information related to the first telegraph pole, and height of the first telegraph pole. Information, identification information of the first location measuring device, and the like are transmitted to the route providing device 300 (S620).

Subsequently, the route providing apparatus 300 may include image information about a flight target area transmitted from the drone 100, a plurality of position information related to the image information, visual information related to the image information, and the drone 100. Receive identification information and the like.

In addition, the route providing device 300 includes position information on a plurality of points included in the flying target area transmitted from the position measuring device 200, position information on one or more obstacles included in the flying target area, and a plurality of points. Receives visual information at a time point at which point and position information about the obstacle is measured, height information of the one or more obstacles, identification information of the position measuring device 200, and the like.

For example, the route providing apparatus 300 may include the first aerial image transmitted from the first drone, the first position information and the second position information of the first drone at the time of photographing the first aerial image, and the first Receive time information of the first drone, identification information of the first drone, and the like at the time of aerial image capture.

As another example, the route providing apparatus 300 may include the first position information to fourth position information transmitted from the first position measuring apparatus, fifth position information related to the first telegraph pole, and height information of the first telegraph pole. In operation S630, identification information of the first position measuring device is received.

Subsequently, the route providing apparatus 300 may include the received image information related to the flying target region, a plurality of position information related to the image information, visual information related to the image information, and a plurality of points included in the flying target region. Location information, location information on one or more obstacles included in the flying target area, a plurality of points and visual information at the time of measuring location information on the obstacle, height information of the one or more obstacles, and the path providing device 300 Specific information on the basis of additional information related to the flight target area stored in advance (e.g., obstacle information, including weather forecast information on a specific date for which a current or specific function (for example, a control function, etc.) is to be performed) A flight path is generated for the flight target area including date and time information to perform a function. In this case, the weather forecast information includes wind direction, wind speed, temperature, humidity, fog status, rain / snow probability (or precipitation probability) for each region / area. Here, the specific function is a control function for the control / flight target area using a pesticide provided on one side of the drone 100, the monitoring function through a camera (not shown) provided on one side of the drone 100 , A collection function such as weather information through a sensor unit (not shown) provided at one side of the drone 100.

That is, the route providing apparatus 300 is pre-stored in the received image information, the plurality of position information related to the image information, the visual information related to the image information, the route providing apparatus 300 Based on the additional information related to the flying target area (for example, obstacle information, weather forecast information for a specific date to perform a specific function, etc.), a flight path for the flying target area is generated. In this case, the path providing apparatus 300 may analyze the image information and generate a flight path that avoids an object such as an obstacle in the corresponding image. In addition, the path providing apparatus 300 may accurately identify (or confirm) the location where the image information is captured based on the plurality of location information related to the image information. In addition, the route providing device 300 receives a flying target region (or information on a flying target region) according to a manager (or user) selection (or setting) of the image information displayed on the route providing apparatus 300. Position information corresponding to the image information, visual information corresponding to the image information, and additional information related to the flight target region previously stored in the path providing apparatus 300 with respect to the received (or selected) flying target region. Based on the above, a flight path for the received (or selected) flight target area may be generated.

The route providing apparatus 300 may further include location information on a plurality of points included in the received flight target area, location information on the one or more obstacles, visual information at a time point of the location information measurement, and measurement of the one or more obstacles. On the basis of the height information, additional information related to the flight target area previously stored in the route providing device 300 (including obstacle information, weather forecast information for a specific date to perform the current or specific function, etc.) Create a flight path for the flight target area.

In this case, the height of the obstacle (or the altitude of the obstacle) is the reference height (or reference value / reference altitude) minus the first value set in advance from the flight altitude (or flight height / average flight altitude / average flight height) of the drone 100 If greater than), the path providing device 300 generates the flight path to avoid the obstacle.

In addition, when the height of the obstacle (or the altitude of the obstacle) is less than or equal to the reference height (or reference value / reference altitude) minus the preset first value from the flying altitude (or flying height) of the drone 100, The path providing device 300 generates the flight path capable of passing the obstacle.

In addition, the path providing apparatus 300 matches the image information photographed through the satellite (not shown), the aircraft (not shown), and the image information and position information photographed through the drone 100, the actual Image information to be used may also be generated. In addition, the path providing device 300 is the image information generated by matching the image information and location information taken through the drone 100 with the image information photographed via the satellite, aircraft, etc., the path providing device ( A flight path for the flying target area may be generated based on additional information related to the flying target area previously stored in 300.

In addition, the path providing apparatus 300 transmits the generated flight path to the drone 100 associated with the flight target area.

For example, as illustrated in FIG. 8, the route providing apparatus 300 may include the first aerial image and the first drone of the first aerial image when the first aerial image is captured. Control based on first position information and second position information, time information of the first drone at the time of the first aerial image shooting, additional information related to the first control target region previously stored in the route providing apparatus 300, and the like. A first control path 800 is generated in relation to the first control target area including date and time information (for example, starting at 1 pm November 1, 2017). In addition, the route providing apparatus 300 transmits the generated first control route to the first drone.

As another example, as illustrated in FIG. 9, the route providing apparatus 300 may include the first position information to the fourth position information regarding the received second control target area, and a fifth line associated with the first telegraph pole. A second control route 900 related to the second control target region based on position information, height information of the first telegraph pole, additional information related to the second control target region previously stored in the path providing apparatus 300, and the like; Create At this time, the height information of the first telegraph pole (for example, 20 m from the ground surface) is a preset first value (for example, 50 m from the ground surface) of the average flight height of the first drone with respect to the second control target area. For example, when less than or equal to a first reference height (for example, 30 m) minus 20 m), as shown in FIG. 9, the path providing device 300 passes through the first telegraph pole 910. A second control path 900 is generated. In addition, the path providing apparatus 300 transmits the generated second control path to the first drone associated with the second control target area.

As another example, as illustrated in FIG. 10, the route providing apparatus 300 may include the first position information to the fourth position information regarding the received second control target area, and the first telegraph associated with the first telegraph pole. A third control route 1000 associated with the second control target region based on position information, height information of the first telegraph pole, and additional information related to the second control target region previously stored in the path providing apparatus 300; ) In this case, the height information of the first telegraph pole (for example, 40 m from the ground surface) is a preset first value (for example, 50 m from the ground surface) of the average flight height of the first drone associated with the second control target area (for example, 50 m from the ground surface). For example, when greater than a first reference height (for example, 30m) minus 20m, as shown in FIG. 10, the route providing device 300 avoids the first telegraph pole 1010. Create a control path 1000. In addition, the route providing apparatus 300 transmits the generated third control route to the first drone related to the second control target region (S640).

Thereafter, the drone 100 receives a flight path transmitted from the path providing device 300.

In addition, the drone 100 is automatically based on the location of the drone 100 (for example, latitude, longitude, etc.) based on the received flight path and a plurality of location information of the drone 100 to be confirmed in real time. And / or control altitude to perform a specific function for the flight target area. At this time, the specific function is a control function for the control / flight target area using a pesticide provided on one side of the drone 100, the monitoring function through a camera (not shown) provided on one side of the drone 100 , A collection function such as weather information through a sensor unit (not shown) provided at one side of the drone 100.

At this time, the drone 100 checks the correct current position and / or heading direction (or direction of travel) associated with the drone 100 on the basis of a plurality of position information (or dual position information) associated with the drone 100 And using the current position and / or heading direction with respect to the identified drone 100 to prevent flight errors caused by one or more obstacles (including, for example, high-voltage telephone poles) located around the flight of the drone 100; In addition, the flight path can accurately track the flight.

For example, the first drone may include the first aerial image associated with the first control target region previously transmitted, first position information and second position information of the first drone at the time of photographing the first aerial image, and the first drone. The first control path is transmitted from the path providing apparatus 300 in response to the time information of the first drone, the identification information of the first drone, and the like at the time of aerial image capturing.

In addition, the first drone is subject to the first control at a date and time corresponding to the corresponding control date and time information (for example, starting at 1 pm on November 1, 2017) based on the received first control path. Perform control of the area.

In this case, the first drone is based on a plurality of location information related to the first drone collected through a plurality of RTK GPS modules formed on one side of the first drone and the current location of the first drone and / or the first drone. Checking the heading direction of the drone, and tracking the first control path so that the control width is constant by using the identified current position of the first drone and / or the heading direction of the first drone, and tracking the first control path to the first control target region. The control function can be performed (S650).

As described above, an embodiment of the present invention captures image information on a flying target region through a camera provided at one side of a drone, and positions a plurality of drones with respect to a shooting position of the image information through a plurality of GPS receivers. Collecting information, generating a flight path for autonomous flight using a drone based on the photographed image information and location information of a plurality of drones related to the image information, and generating the drone based on the generated flight path. By using a specific function, high precision flight is possible, so that the optimal control altitude for the flight target area can be maintained and the function can be efficiently performed.

In addition, the embodiment of the present invention, as described above, by using the position measuring device to measure the position information and the position information for the flying target area, the position information and the obstacle for the measured flying target area By generating a flight path for autonomous flight using a drone based on the location information, and performing a specific function using the drone based on the generated flight path, it is possible to increase work efficiency and reduce operating costs .

The above description may be modified and modified by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

The present invention collects a plurality of location information related to the drone when the image information is obtained by using a plurality of GPS modules provided in the drone, and the location information about the flying target area and the location information about the obstacle Measure and generate a flight path for autonomous flight using a drone based on the collected plurality of location information, image information, location information of the measured flight target area and location information of an obstacle, and generate By performing a specific function using the drone on the basis of the flight path, it is possible to perform a high-precision flight to maintain the optimal flight altitude for the flying target area efficiently and to perform the function, drone application field, control field, It can be widely used in surveillance field, autonomous flight field, etc.

10: autonomous flight system 100: drones
200: location measuring device 300: path providing device
110: main body / body 120: a plurality of first RTK GPS module
130: photographing unit 140: first communication unit
150: first storage unit 160: first display unit
170: first control unit 210: tripod
220: second RTK GPS module 230: second communication unit
240: second storage unit 250: second display unit
260: sensor unit 270: second control unit
310: third communication unit 320: third storage unit
330: third display unit 340: third audio output unit
350: third control unit

Claims (5)

In the autonomous flight method using dual GPS,
A drone equipped with a pair of first RTK GPS (Real Time Kinematic Global Positioning System) modules and a high resolution camera captures a high resolution image of a target area during flight, and captures the captured image information and the image information. Transmitting a pair of precise position information about a position, time information at the time of photographing the image information, and identification information of the drone to a path providing device;
By the position measuring device having a second RTK GPS module, the precise position information for a plurality of points included in the flying target area on the ground, the precise position information for one or more obstacles included in the flying target region, the plurality of Collecting visual information of a point in time and location information of the obstacle and a height information of the one or more obstacles;
Location information on a plurality of points included in the collected flying target area, location information on one or more obstacles included in the flying target area, and location information on the plurality of points and the obstacles, by the location measuring device; Transmitting visual information at the time of measurement, height information of the at least one obstacle, and identification information of the position measuring device to a path providing device;
By the route providing device, image information on a flight target area transmitted from the drone, a pair of position information related to the image information, visual information related to the image information, identification information of the drone, and the position measuring device Location information on a plurality of points included in the flying target area transmitted from the location information, location information on one or more obstacles included in the flying target area, visual information on a plurality of points and location information measurement time of the obstacles, the one Generating a flight path for the flying target area based on the height information of the obstacle and additional information related to the flying target area previously stored in the path providing apparatus; And
Transmitting, by the route providing device, the generated flight route to the drone associated with the flight target area;
By measuring the position information on the plurality of points, the position information on the obstacle by the position measuring device, the position information is measured secondly at the same point after the first preset time after the first position measurement. It is determined whether the error between the first and second measured position information is within a preset error range, and repeatedly measuring until the error between continuously measured position information falls within the preset error range to determine the position of the corresponding point. Autonomous flight method using dual GPS comprising the steps. The method of claim 1,
Generating a flight path for the flight target area,
When the height of the obstacle is greater than the reference height minus the first value preset from the flight altitude of the drone, the flight path is generated to avoid the obstacle corresponding to the height of the obstacle autonomous using dual GPS How to fly. The method of claim 1,
Generating a flight path for the flight target area,
When the height of the obstacle is less than or equal to the reference height minus the first value preset in the flight altitude of the drone, the dual GPS, characterized in that for generating the flight path capable of passing the obstacle corresponding to the height of the obstacle Autonomous flight method using. The method of claim 1,
Receiving, by the drone, a flight path associated with the flight target area transmitted from the path providing device;
And performing, by the drone, a specific function preset for the flying target area in consideration of headings based on the plurality of position information and the flight path collected by the drone. Autonomous flight method using. In an autonomous flight system using dual GPS,
A pair of first RTK GPS (Real Time Kinematic Global Positioning System) module and a high resolution camera are provided to capture a high resolution image of a flight target area during flight, and to capture the captured image information and the position of the image information. A drone for transmitting a pair of precision position information, visual information and identification information at the time of photographing the image information to a path providing device;
And a second RTK GPS module, the position information of a plurality of points included in the flying target area on the ground, the position information of one or more obstacles included in the flying target area, the plurality of points and the positions of the obstacles. Collecting time information of the time point at which the information is measured and height information of the one or more obstacles, location information of a plurality of points included in the collected flying target area, location information of one or more obstacles included in the flying target area, A position measuring device which transmits the time information at the time of measuring the position information on the plurality of points and the obstacle, the height information of the at least one obstacle, and identification information of the position measuring device;
Image information of the flying target region transmitted from the drone, a pair of position information related to the image information, visual information related to the image information, identification information of the drone, and a flying target region transmitted from the position measuring device. Position information on a plurality of points included, position information on one or more obstacles included in the flying target area, visual information on a plurality of points and location information measurement time point of the obstacles, height information of the one or more obstacles, and the like A path providing device for generating a flight path for the flying object area based on the stored additional information related to the flying object area, and transmitting the generated flight path to the drone related to the flying object area;
The drone receives a flight path related to the flight target area transmitted from the path providing device, and advances to the flight target area in consideration of headings based on the plurality of position information and the flight path collected by the drone. Perform a specific set function,
The location measuring device measures location information on the second point at the same point after a preset first time after the first location measurement when measuring location information on the plurality of points and location information on the obstacle. And determining whether the error between the second measured position information is within a preset error range, and repeatedly measuring until the error between continuously measured position information falls within the preset error range to determine the position of the corresponding point. Autonomous flight system.

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