Study on the UAV Hovering using a Mouse-based Optical Flow Sensor
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초록
UAV are widely used in such affected areas of lifesaving, delivery and aerial photography. The most important thing in the function of unmanned aircraft equipped is to ensure stability. As the accident rate of a drone reaches 100 times that of general aircraft, the operation at the low altitude has caused the collisions with a number of structures. Therefore, studies for ensuring the safety of an unmanned aircraft, have become an important field. In this paper, the touch on measures to ensure the safety of the unmanned aircraft is covered. The most basic is implementation of reliable hovering in safety. Hovering has a method of using a GPS signal. However, hovering cannot be available when the GPS signal is lost or it has a room flight. In this paper, a possible stable hovering manner based on the optical flow is suggested. Therefore, the operation was tested, using the setting program, after an optical flow sensor is set to flight control board APM2.5. Then, the actual travel distance of the unmanned aircraft was calculated by implementing an algorithm for correcting the error in moving distance corresponding the altitude. Finally, using the calculated X and the Y coordinate value, it corrected the position of the unmanned aircraft. Position correction is adjusted by using the Roll and Pitch values. As a result, stable hovering in capable unmanned aircraft was implemented even if it was impossible to use the GSP signal under indoor flight.
Abstract
UAV are widely used in such affected areas of lifesaving, delivery and aerial photography. The most important thing in the function of unmanned aircraft equipped is to ensure stability. As the accident rate of a drone reaches 100 times that of general aircraft, the operation at the low altitude has caused the collisions with a number of structures. Therefore, studies for ensuring the safety of an unmanned aircraft, have become an important field. In this paper, the touch on measures to ensure the safety of the unmanned aircraft is covered. The most basic is implementation of reliable hovering in safety. Hovering has a method of using a GPS signal. However, hovering cannot be available when the GPS signal is lost or it has a room flight. In this paper, a possible stable hovering manner based on the optical flow is suggested. Therefore, the operation was tested, using the setting program, after an optical flow sensor is set to flight control board APM2.5. Then, the actual travel distance of the unmanned aircraft was calculated by implementing an algorithm for correcting the error in moving distance corresponding the altitude. Finally, using the calculated X and the Y coordinate value, it corrected the position of the unmanned aircraft. Position correction is adjusted by using the Roll and Pitch values. As a result, stable hovering in capable unmanned aircraft was implemented even if it was impossible to use the GSP signal under indoor flight.
참고문헌 (11)
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- "Optical Flow Sensors"[URL]