IR-UWB Radar 기반 무인기 안전착륙을 위한 고도 측정에 관한 연구

Abstract

It is expected that the following future will face various use cases of UAV (Unmanned Aerial Vehicle), including our daily life, industrial fields and military purposes. Further, it is regarded that UAV should be utilized in various conditions such as the increase in takeoff weight. However, these conditions may cause a lot of mechanical problems including the malfunction of state estimation sensors, the increase in impulse force and securing flight time, which is a disadvantage for takeoff and landing. In this context, this paper have examined how to advance these conditional problems, and it suggests the way of precision altitude measurement in the unit of cm with cross-correlation signal processing technique and band pass filter, using the IR-UWB Radar which can be used for strong and precise state estimation for environmental factors and consumes lower electric power. In addition, this paper utilized the mission planner which can monitor the state of UAV in order to check out takeoff and landing characteristics of UAV, based on altitude data, and it monitored the throttle for each state of UAV and servomotor output data in real time. In addition, it repeatedly experimented with takeoff and landing of UAV to get the throttle and the output data. It also utilized the data and controlled the UAV of 6kg and conducted a landing test at the first altitude of 50cm and the second altitude of 10cm to confirm the stability of UAV. Likewise, In case of the currently developing UAV, it used ABAQUS Explicit Non-Linear and simulated its landing situations at the altitude of 10 cm to confirm its stability.