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UAV 원격제어를 위한 비용효율적인 IMU-GPS 기반 LTE 통신시스템

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Author(s)
정지성
Issued Date
2020
Keyword
무인항공기, LTE, 네트워크, 드론, 통신, unmanned aerial vehicle (UAV), LTE network, autonomous flight, drone operating system
Abstract
Unmanned aerial vehicle (UAV) 운용 기술이 많은 산업 분야에서 큰 관심을 끌면서 세계 각국의 엔지니어들은 UAV 운용 관련 시스템들을 개발하고 있다 [1-2]. 그 중에서도 자율비행은 UAV 운용 기술 중에서 이목이 집중되는 분야이다 [3-5]. UAV의 자율비행은 비행을 위한 센서데이터와 알고리즘뿐만 아니라 상시 데이터를 송수신 할 수 있는 통신 네트워크를 필요로 한다.


기존 UAV 원격제어에 사용되어오던 RF 통신은 거리제한이 있었다. 이를 보완하기 위해서는 출력을 증폭시켜 통신 범위를 늘리거나 중계기를 활용하여 통신 가능한 네트워크를 넓히는 방법이 있는데 출력을 증폭시키기 위해 증폭기를 설계하거나 새로운 통신망을 구축하기에는 많은 비용이 든다.


따라서 본 연구는 이를 보완하고자 현재 많이 이용되고 있는 저가의 싱글보드컴퓨터를 활용하여 국내 LTE 네트워크 서비스를 기반으로 드론 운용 시스템 구축에 관한 것으로, 또한, 보다 정확한 드론의 위치를 추적하기 위해 RTCM 보정 메시지를 활용하여 글로벌 포지셔닝 시스템(GPS)의 오차를 감소시켰다. 그리고, 상시 드론을 감시할 수 있도록 통신사에서 제공하는 LTE 네트워크를 기반으로 Base station (server)과 Rover (client)간의 통신망을 구축하고 그래픽 유저 인터페이스(GUI)와 데이터베이스(DB)를 포함한 서버를 구성하였다.|Today, unmanned aerial vehicle (UAV) operating technology has attracted great attention in many industries and many engineers around the world are developing systems with UAVs. Especially, autonomous flight technology is an important issue. The autonomous flight technology of UAV is important not only for processing sensor data and designing algorithms for flight but also for building communication networks. Because UAVs need to be transmitting and receiving data with a server at all times.

This study describes the process of flying drones automatically according to commands for takeoff and landing via an LTE wireless communication network. This study includes assembling drones, processing LTE communication network between drone (client) and PC (server), and designing a web-based monitoring system. Also, this study includes calibrating the position data of drones based on differential GNSS correction messages in RTCM2.4.

In conclusion, the system is designed based on a low-cost single board computer to make the system cost-effective. An inertial measurement unit (IMU) sensor is also used to correct the attitude of the flying drone, and a global positioning system (GPS) module is used to monitor the drone on the server. Data collection and forwarding uses LTE-based wireless communication and is performed with TCP/IP socket communication.
Alternative Title
Cost-effective IMU-GPS based LTE Communication System for UAV Autonomous Flight
Alternative Author(s)
Jiseong Jeong
Department
일반대학원 전자공학과
Advisor
이충규
Awarded Date
2020-02
Table Of Contents
ABSTRACT ································································ vi

제1장 서 론 ···································································· 1
제1절 드론(Drone) 응용 기술 및 국·내외 연구 현황 ········ 1
제2절 드론 운용을 위한 RF 통신의 문제점 ····················· 2
제3절 연구 목표 및 개요 ··············································· 2

제2장 드론 제어 시스템 ················································ 3
제1절 관성 측정 장치(IMU)를 통한 모터의 PID제어 ········· 3
1. 관성 측정 장치(IMU) 기반의 위치 정의 ·························· 3
2. 날개 모터 제어를 위한 PID 제어 ··································· 5
제2절 GPS 데이터의 RTCM 디퍼렌셜 보정 ······················· 6
1. 표준 NMEA 0183 프로토콜 ··········································· 6
2. RTCM 디퍼렌셜 GNSS 보정 ·········································· 8

제3장 드론 능동 제어 및 감시 시스템 ······················ 10
제1절 드론 설계 및 구현 ·············································· 10
1. 드론 기체 설계 및 제작 ············································· 10
2. RF송·수신기를 통한 드론 수동 제어 시연 ······················ 13
3. 드론-싱글보드컴퓨터 기반의 LTE 통신 시스템 개발 ········· 16
제2절 드론 원격제어 및 감시를 위한 네트워크 구축 ······· 20
1. LTE기반의 TCP/IP 소켓 통신을 이용한 Server-Client 구축 ·· 20
2. 데이터베이스 (DB) ····················································· 24
3. GPS 데이터 오차 감소를 위한 RTCM 디퍼렌셜 보정 ········ 27
4. GUI (Graphic User Interface) 서비스 ································ 30
제4장 드론 능동 제어 및 감시 시스템 운용 시연 ···· 32
제1절 LTE 기반 UAV 운용 시스템 ·································· 32
제2절 UAV 기반 격납고의 입·출고 시스템 ·········· 35

제5장 결론 ···································································· 41

참고문헌 ····································································· 42

연구실적 ······································································· 45
Degree
Master
Publisher
조선대학교 대학원
Citation
정지성. (2020). UAV 원격제어를 위한 비용효율적인 IMU-GPS 기반 LTE 통신시스템.
Type
Dissertation
URI
https://oak.chosun.ac.kr/handle/2020.oak/14075
http://chosun.dcollection.net/common/orgView/200000279444
Appears in Collections:
General Graduate School > 3. Theses(Master)
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