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지상관제시스템과의 일시적 통신 단절을 고려한 모델기반 쿼드로터 위치 영역 예측 기법
강산희(San Hee Kang),김응주(Eung Ju Kim),권영서(Yeong Seo Kwon),김용훈(Yong Hun Kim),송진우(Jin Woo Song) 제어로봇시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.2
High-efficiency communication methods, such as beamforming, are used for high-capacity data transmission—from UAVs (Unmanned Aerial Vehicles) to the ground in real- time. However, the directivity of beamforming and high mobility of the quadrotor necessitate continuous positioning to calculate optimal channels. Herein, we propose a quadrotor position boundary prediction method using a model-based filter for tracking a quadrotor with temporary disconnection. For accurate model-based state prediction, the parameters of the quadrotor are estimated using a model-based extended Kalman filter when communication is possible at the beginning of the flight. If communication with the quadrotor is not reliable, the estimated model parameters and dynamic models are used to predict the position and attitude of the quadrotor and calculate a boundary where the quadrotor can be located. The proposed algorithm was verified using Monte Carlo simulation. Simulations confirmed that the actual quadrotor trajectory was within the expected boundaries for position error.
UWB 기반 이동형 앵커 위치 궤적을 고려한 측위 기법
박소진(So Jin Park),김학주(Hak joo Kim),강산희(San Hee Kang),김응주(Eung Ju Kim),송진우(Jin Woo Song),김용훈(Yong Hun Kim) 대한전자공학회 2022 대한전자공학회 학술대회 Vol.2022 No.11
The positioning technique using UWB anchors with a fixed position requires much time in the infrastructure construction. This paper proposes a positioning system using mobile anchors to estimate the tags position quickly. Moreover, the proposed system saves historical information on the mobile anchor to select the optimal data combination. As a result, the proposed positioning system uses fewer anchors than the anchors required for conventional UWB positioning. The proposed method confirmed through simulation that it takes a short time in the calculation process and showed that it could stably estimate the tags position.