VR-based Drone Practical Test Evaluation Method and System Utilizing RTK GPS

Abstract

The present invention relates to a VR-based drone practical test evaluation method and system that utilize RTK GPS (Real Time Kinematic GPS) to measure the position and orientation of a drone, and display a trajectory on a virtual space that embodies a drone practical test site according to the movement of the drone to evaluate the result of the practical test. The VR-based drone practical test evaluation method utilizing RTK GPS according to an embodiment of the present invention includes the steps of obtaining information about a drone practical test site, embodying the practical test site in 3D based on the information about the practical test site, obtaining position information and orientation information of the drone from an RTK GPS (Real Time Kinematic GPS) module attached to the drone, and embodying a virtual drone at the same position as the drone on a 3D-embody virtual space based on the obtained position information and orientation information of the drone.

Description

Technical Field

[0001] The present invention relates to a method and system for evaluating a drone practical test based on VR using RTK GPS. More specifically, the present invention relates to a method and system for evaluating a drone practical test based on VR using RTK GPS (Real Time Kinematic GPS) to measure the position and direction of a drone, display a trajectory on a virtual space embodying a drone practical test site according to the movement of the drone, and evaluate the result of the practical test.

Background Art

[0002] Generally, an unmanned aerial vehicle is an aircraft or helicopter-shaped vehicle that flies without a person on board by radio wave induction, and is also called a drone.

[0003] Conventional drones have mainly been used for military purposes, but recently their commercial utility value has attracted attention, and many companies have entered the relevant business. Specifically, drones have been developed as vehicles with various sizes and performances depending on their utilization purposes, and are being used in various commercial fields such as logistics and distribution, broadcasting and leisure, as well as in areas where humans cannot approach, such as jungles, remote areas, volcanic regions, natural disaster areas, and nuclear power plant accident areas.

[0004] In addition, drones perform remote monitoring of a specific area by quickly moving along a preset route through a mounted camera, sensor, etc., are connected to a control device or a pilot terminal by wire / wireless, and perform functions such as flight and photography according to commands transmitted from the corresponding terminal.

[0005] Such a drone pilot license is issued when a certain flight time is completed in stages and the candidate passes a written test and a practical test.

[0006] However, in the practical skill test, in general private colleges, the actual situation is that the exact position and trajectory of the drone are judged by the naked eye. Therefore, there is a problem that the fairness is reduced by notifying the test result based on the subjective judgment of the examiner.

[0007] In addition, at the national practical skill test site, the objectivity of the test can be imparted through a system that utilizes a rider (LIDAR) to detect the position and trajectory of the unmanned aircraft. However, when it is not an expensive rider, it is difficult to track the object, and there are restrictions on recording the position information of the drone and processing the flight history time in real time. Also, post-processing work is required to extract the position of the drone, and there are restrictions that high-capacity data must be stored or reproduced in expensive storage. When the position of the rider is changed, there is a problem that rework of spatial mapping is required and there are limitations in maintaining data consistency.

Summary of the Invention

Problems to be Solved by the Invention

[0008] The problem to be solved by the present invention is to provide a VR-based drone practical skill test evaluation method and system that utilize RTK GPS (Real Time Kinematic GPS) to measure the position and direction of a drone, display a trajectory on a virtual space embodying the drone practical skill test location according to the movement of the drone, and evaluate the result of the practical skill test.

[0009] The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those of ordinary skill in the art from the following description.

Means for Solving the Problems

[0010] The method for evaluating a drone practical test based on VR using RTK GPS according to an embodiment of the present invention for solving the above-described problems includes: obtaining information about a drone practical test location; embodying the practical test location in 3D based on the information about the practical test location; obtaining position information and direction information of the drone from an RTK GPS (Real Time Kinematic GPS) module mounted on the drone; and embodying a virtual drone at the same position as the drone on a virtual space embodied in 3D based on the obtained position information and direction information of the drone.

[0011] In addition, the step of obtaining information about the drone practical test location further includes obtaining information about the position, size of the drone practical test location, and the position, shape, and size of signs arranged for evaluating the practical test. The step of obtaining the position information and direction information of the drone can further include obtaining values for the latitude, longitude, and altitude of the drone, and obtaining values for the yaw, roll, and pitch of the drone.

[0012] In addition, the step of embodying the virtual drone includes: controlling the virtual drone to move identically to the drone according to the movement of the drone on the virtual space based on the position information and the direction information; displaying a trajectory formed by the movement of the virtual drone; and further including analyzing the trajectory to evaluate the result of the practical test.

[0013] In addition, the step of evaluating the result of the practical test can include: obtaining evaluation items and evaluation criteria for the practical test; analyzing the shape of the trajectory; and determining whether the result of analyzing the shape of the trajectory satisfies the evaluation items and evaluation criteria.

[0014] In addition, the step of determining whether the evaluation items and criteria are satisfied may include: determining a parameter value for the movement of the virtual drone based on the result of analyzing the shape of the trajectory; comparing the parameter value with a reference value; when the parameter value is within the reference value range, determining that the evaluation criteria are satisfied; and providing whether the evaluation criteria are satisfied.

[0015] In addition, the step of determining whether the evaluation items and criteria are satisfied may include: setting a movable range based on the marker according to the evaluation items and criteria of the practical test; determining whether the virtual drone has moved within the movable range based on the result of analyzing the shape of the trajectory; when the virtual drone has moved within the movable range, determining that the evaluation criteria are satisfied; and providing whether the evaluation criteria are satisfied.

[0016] In addition, the step of determining whether the evaluation items and criteria are satisfied may include: comparing the shape of the trajectory with a shape preset according to the evaluation items; calculating a similarity between the shape of the trajectory and the preset shape; when the calculated similarity is equal to or greater than a preset value, determining that the evaluation criteria for the evaluation items are satisfied; and providing whether the evaluation criteria are satisfied.

[0017] An RTK GPS-based VR drone practical test evaluation system according to an embodiment of the present invention for solving the above-described problems may include: a drone that operates by an operator's operation; an RTK GPS (Real Time Kinematic GPS) module that is attached to the drone and measures the position and orientation of the drone; and an evaluation device that obtains position information and orientation information of the drone from the RTK GPS module and embodies a virtual drone at the same position as the drone on a virtual space that embodies a drone practical test site in 3D based on the position information and orientation information.

[0018] An RTK GPS-based drone practical test evaluation program according to an embodiment of the present invention for solving the above-described problems can be stored in a computer-readable recording medium in combination with a computer, which is hardware, so as to execute an RTK GPS-based drone practical test evaluation method.

[0019] Other specific matters of the present invention are included in the detailed description and the drawings.

Effects of the Invention

[0020] The present invention can determine the position of a drone in real time by measuring the position and direction of the drone using RTK GPS (Real Time Kinematic GPS).

[0021] In addition, by displaying a trajectory on a virtual space that embodies a drone practical test location according to the movement of the drone, an intuitive evaluation of the trajectory is possible, and it can also be used as an objective evaluation index.

[0022] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

Brief Description of the Drawings

[0023]

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Mode for Carrying Out the Invention

[0024] The advantages and features of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and can be embodied in various different forms. Nevertheless, these embodiments are provided to make the disclosure of the present invention complete and to fully inform those of ordinary skill in the technical field to which the present invention pertains of the scope of the present invention. The present invention is only defined by the scope of the claims.

[0025] The terms used in this specification are for the purpose of describing the embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated otherwise in the context. The terms "comprises" and / or "comprising" used in the specification do not exclude the presence or addition of one or more other components in addition to the recited components. The same reference numerals throughout the specification refer to the same components, and "and / or" includes each and all combinations of the recited components. Although terms such as "first", "second", etc. are used to describe various components, it goes without saying that these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, it is of course possible that the first component referred to below may be the second component within the technical concept of the present invention.

[0026] Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the technical field to which the present invention pertains. Also, terms defined in commonly used dictionaries are not ideally or overly interpreted unless specifically defined otherwise.

[0027] As used in the specification, the terms "component" or "module" refer to hardware components such as software, FPGA, or ASIC, and the "component" or "module" performs some role. However, the "component" or "module" is not meant to be limited to software or hardware. The "component" or "module" may be configured to be on an addressable storage medium, or may be configured to cause one or more processors to execute. Thus, by way of example, a "component" or "module" includes components such as software components, object-oriented software components, class components, and task components, and processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functions provided within a component and a "component" or "module" may be combined with a smaller number of components and "components" or "modules" or further separated into additional components and "components" or "modules".

[0028] As used in this specification, "computer" means all types of hardware devices that include at least one processor, and can be understood to include software configurations that operate on the corresponding hardware devices by way of examples. For example, "computer" can be understood to include smartphones, tablet PCs, desktops, laptop computers, and all user clients and applications driven by each device, and is not limited thereto.

[0029] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0030] Although each step described in this specification is described as being performed by a computer, the subject of each step is not limited thereto, and at least a part of each step may be performed by different devices from each other by way of examples.

[0031] FIG. 1 is a drawing illustrating a VR-based drone practical test evaluation system utilizing RTK GPS according to an embodiment of the present invention.

[0032] Referring to FIG. 1, a VR-based drone practical test evaluation system 10 according to an embodiment of the present invention may include an evaluation device 100, a drone 200, and an RTK GPS module 300.

[0033] Here, the VR-based drone practical test evaluation system 10 utilizing RTK GPS illustrated in FIG. 1 is based on one embodiment, and its components are not limited to the embodiment illustrated in FIG. 1 and may be added, changed, or deleted as necessary.

[0034] The drone 200 can be operated by the tester, and the RTK GPS module 300 can be attached to the drone 200 to measure the position and orientation of the drone 200.

[0035] RTK GPS is a technology that can obtain position information with an error level of 1 to 2 cm in real time using not only the code phase of satellite signals used by general GPS but also a carrier phase that is more than 1000 times more precise.

[0036] Specifically, since GPS operates by receiving artificial satellite signals in the sky, when the sky is partially blocked by buildings, trees, etc., an error of several hundred meters may occur. Even in an open sky area, GPS has an average error of about 5 to 10 m due to various causes (e.g., satellite orbit error, satellite clock error, satellite data error, ionospheric delay, tropospheric delay, etc.). The components of such error causes generally occur commonly and act similarly in adjacent spaces within several tens of kilometers. For example, when A and B are in similar positions, it means that the GPS error occurs similarly. Therefore, if the error of A is obtained to generate error information and this information is transmitted to B to cancel the error, B can also obtain more accurate position information.

[0037] If a very precise GPS antenna and receiver are installed at a fixed position where the absolute coordinates are known, and the GPS position information is measured every second and compared with the absolute coordinates, the error of the GPS can be obtained every second. Equipment that generates correction information using such errors is called a base station. When the correction information generated at the base station is transmitted to a GPS receiver moving in an adjacent space and a correction operation is performed to cancel out the common error, accurate position information at the centimeter level can be obtained. This is called DGPS (Differential GPS) technology, and RTK GPS can be one of the DGPS technologies.

[0038] For example, the existing method calculates the position information through the communication among three elements: empty GPS satellites, ground control stations, and the GPS receivers of drones. However, RTK GPS can further add one more base station to this. The base station can be an antenna fixed on the ground. This antenna can serve as a reference point to grasp the relative distance and angle of the drone 200 in real time, and then correct the position information obtained by GPS. Since the position of the drone 200 can be grasped in real time, if there is even a slight error in the signal sent by the satellite, a correction signal can be sent immediately to reduce the error. Such RTK GPS can reduce the existing error in meters to the centimeter level.

[0039] The evaluation device 100 obtains the position information and direction information of the drone 200 from the RTK GPS module 300, and based on the obtained position information and direction information, it can display the trajectory according to the movement of the drone 200 on a virtual space that embodies the drone practical test site and evaluate the result of the practical test.

[0040] Figure 2 is a hardware configuration diagram of the evaluation device according to an embodiment of the present invention.

[0041] Referring to FIG. 2, the evaluation apparatus 100 according to an embodiment of the present invention may include one or more processors 110, a memory 120 for loading a computer program 151 executed by the processor 110, a bus 130, a communication interface 140, and a storage 150 for storing the computer program 151. Here, only the components related to the embodiment of the present invention are illustrated in FIG. 2. Therefore, it can be understood that an ordinary technician in the technical field to which the present invention belongs may further include other general-purpose components in addition to the components illustrated in FIG. 2.

[0042] The processor 110 controls the overall operation of each component of the evaluation apparatus 100. The processor 110 may be configured to include a CPU (Central Processing Unit), an MPU (Micro Processor Unit), an MCU (Micro Controller Unit), a GPU (Graphic Processing Unit), or any form of processor widely known in the technical field of the present invention.

[0043] Also, the processor 110 can perform operations on at least one application or program for executing the method according to an embodiment of the present invention, and the evaluation apparatus 100 can include one or more processors.

[0044] In various embodiments, the processor 110 may further include a RAM (Random Access Memory, not shown) and a ROM (Read-Only Memory, not shown) for temporarily and / or permanently storing signals (or data) processed inside the processor 110. Also, the processor 110 may be embodied in the form of a system on chip (SoC) including at least one of a graphic processing unit, a RAM, and a ROM.

[0045] Memory 120 stores various data, instructions, and / or information. Memory 120 can load computer program 151 from storage 150 to execute the methods / operations according to various embodiments of the present invention. When computer program 151 is loaded into memory 120, processor 110 can perform the above-mentioned methods / operations by executing one or more instructions that make up computer program 151. Memory 120 may be implemented as a volatile memory such as RAM, but the technical scope of the present disclosure is not limited thereto.

[0046] Bus 130 provides a communication function between the components of evaluation device 100. Bus 130 can be implemented in various forms of buses such as an address bus, a data bus, and a control bus.

[0047] Communication interface 140 supports wired / wireless Internet communication of evaluation device 100. Also, communication interface 140 may support various communication methods other than Internet communication. For this purpose, communication interface 140 may be configured to include a communication module widely known in the technical field of the present invention. In some embodiments, communication interface 140 may be omitted.

[0048] Storage 150 can non-temporarily store computer program 151. When performing a VR-based drone practical test evaluation method using RTK GPS through evaluation device 100, storage 150 can store various information necessary to provide the VR-based drone practical test evaluation method using RTK GPS.

[0049] Storage 150 may be configured to include a non-volatile memory such as a ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), flash memory, a hard disk, a removable disk, or any form of computer-readable recording medium well known in the technical field to which the present invention pertains.

[0050] When computer program 151 is loaded into memory 120, it can include one or more instructions that cause processor 110 to perform the methods / operations according to various embodiments of the present invention. That is, processor 110 can perform the methods / operations according to various embodiments of the present invention by executing the one or more instructions.

[0051] In one embodiment, computer program 151 includes steps of obtaining information about a drone practical test site, embodying the practical test site in 3D based on the information about the practical test site, obtaining position information and direction information of the drone from an RTK GPS (Real Time Kinematic GPS) module mounted on the drone, and embodying a virtual drone at the same position as the drone on a 3D embodied virtual space based on the obtained position information and direction information of the drone, and can include one or more instructions for performing a VR-based drone practical test evaluation method using RTK GPS.

[0052] The steps of the methods or algorithms described in connection with the embodiments of the present invention may be embodied directly in hardware, in software modules executed by hardware, or in a combination thereof. The software modules may reside in RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), flash memory, a hard disk, a removable disk, a CD-ROM, or any other form of computer-readable recording medium well known in the technical field to which the present invention pertains.

[0053] The components of the present invention may be embodied as a program (or application) stored in a medium for execution in combination with a computer that is hardware. The components of the present invention may be executed by software programming or software elements. Similarly, the embodiments include various algorithms embodied in a combination of data structures, processes, routines, or other programming constructs and may be embodied in programming or scripting languages such as C, C++, Java, assembler, etc. The functional aspects may be embodied by algorithms executed by one or more processors.

[0054] FIG. 3 is a drawing showing a method for evaluating a practical test of a VR-based drone using RTK GPS according to an embodiment of the present invention, and FIG. 4 is a drawing showing an example of displaying the trajectory of a virtual drone according to an embodiment of the present invention.

[0055] Referring to FIG. 3, the evaluation device 100 can acquire information about the drone practical test location (S100). The information about the drone practical test location can be information about the location, size of the drone practical test location, and the location, shape, and size of the signs arranged for the evaluation of the practical test. That is, the evaluation device 100 can acquire information about the latitude, longitude, width, shape, etc. of the drone practical test location. For example, the drone practical test location can be a space including an external large open space, and the evaluation device 100 can acquire the latitude where this open space is located, the inclination, and can acquire the shape and width of this open space.

[0056] Also, the drone practical test is a test for evaluating whether the drone 200 is well controlled according to the evaluation items and evaluation criteria, and can evaluate hovering, circular flight, triangular flight, forward and backward flight, etc. At this time, signs may be displayed on the bottom of the practical test location for the practical test, and the evaluation device 100 can evaluate whether the drone 200 is flying normally along the signs displayed on the bottom. The signs can be displayed differently according to the type of flight for which the practical test is carried out, and can include all of the shapes drawn on the bottom, the point locations displayed through rubber cones, etc.

[0057] The evaluation device 100 can acquire information about the location, shape, and size of the signs displayed at the practical test location. For example, in the case of a location for testing circular flight, a circle may be drawn, and the evaluation device 100 can acquire the size, shape, and location of the drawn circle. Here, the location of the circle can mean the position where the circle is drawn in the space where the circle is drawn.

[0058] The information about the drone practical test location may be input by the evaluator, or may be obtained by acquiring an image or video of the drone practical test location and analyzing the acquired image or video to obtain the shape and size of the practical test location, but is not limited thereto.

[0059] The evaluation device 100 can embody the actual test site in 3D based on the information about the actual test site (S200). The evaluation device 100 can embody the virtual space according to the shape and size of the acquired drone actual test site. Also, the computing device 100 can map the position on the virtual space according to the position of the drone actual test site, and can embody a sign having the same size and shape at the same position as the sign at the actual test site on the virtual space. That is, the actual test site and the virtual space can have the same shape and size.

[0060] The evaluation device 100 can acquire the position information and the direction information of the drone 200 from the RTK GPS module 300 (S300). At this time, the drone 200 can be placed in a stopped state at a preset position in order to set the position of the virtual drone in the virtual space. That is, after placing the drone 200 at the starting point for the actual test, the test can be prepared, and the position of the drone 200 at this time can be acquired to perform pairing with the virtual space. However, it is not limited to this, and it may also be possible to acquire the position of the flying drone 200. Here, the position information can include values for the latitude, longitude, and altitude of the drone 200, and the direction information can include values for the yaw, roll, and pitch of the drone 200, but it is not limited to this.

[0061] Based on the acquired position information and direction information of the drone 200, the evaluation device 100 can embody a virtual drone at the same position as the drone 200 on the 3D embodied virtual space (S400).

[0062] For example, when the actual drone 200 is placed at the first sign among the signs displayed at the actual flight test location, the evaluation device 100 can embody the virtual drone in the virtual space to be placed at the first sign based on the position of the actual drone 200. At this time, the virtual drone can be embodied to be placed in the same direction according to the direction of the actual drone 200. Here, the direction of the drone 200 can follow the options preset in the drone 200. For example, the front or rear side of the fuselage of the drone 200 may be set. When the controller controls the drone 200 to move forward, the side of the fuselage corresponding to the direction in which the drone 200 goes forward may be set as the front side. Also, the direction of the fuselage may be set according to the direction of the camera provided in the drone 200, or the direction of the fuselage may be set according to the direction in which the drone 200 is placed before the start of the test.

[0063] The evaluation device 100 can receive the position and direction of the drone 200 from the RTK GPS module 300 at regular time intervals, and can represent the virtual drone in the virtual space according to the received position and direction of the drone 200. For example, when the position of the actual drone 200 is changed, the evaluation device 100 can change the position of the virtual drone to the position in the virtual space corresponding to the position of the actual drone 200. That is, the virtual drone can move identically in the virtual space according to the movement of the drone 200.

[0064] The evaluation device 100 can display the trajectory caused by the movement of the virtual drone. For example, as shown in FIG. 4, when the virtual drone V_D in the virtual space V_S stops on the sign M and then ascends, the evaluation device 100 can display the trajectory T that ascends after being on the sign M along the movement of the virtual drone V_D. On the other hand, it is not limited to this, and the trajectory can be displayed continuously according to the movement of the virtual drone V_D.

[0065] The evaluation device 100 can analyze the trajectory of the virtual drone and evaluate the result of the flight test (S500).

[0066] The evaluation device 100 can obtain the evaluation items and evaluation criteria for the practical test. The evaluation items can include left - right hovering, horizontal flight, triangular flight, circular flight, very close approach and landing, normal approach and landing, and cross - wind approach and landing, and the evaluation criteria can be different for each evaluation item. The evaluation items and evaluation criteria for the practical test will be described with reference to FIGS. 5 to 11.

[0067] FIG. 5 is a drawing for explaining the test course of left - right hovering according to an embodiment of the present invention. Here, each of A, B, C, D, and H can mean a marker.

[0068] Referring to FIG. 5, left - right hovering can be an evaluation of the drone 200 hovering above the H - point. After moving to point A with the nose direction towards point C, while hovering, the nose direction is sequentially turned towards points D, B, and C.

[0069] The evaluation criteria for left - right hovering can be whether the drone 200 maintains hovering without leaving point A, the nose direction of the drone 200 at each point. The angle between point A and the drone 200 hovering above point A can be extracted to determine whether hovering is maintained, and the direction of the drone 200 at each point can be obtained to determine the nose direction of the drone 200.

[0070] FIG. 6 is a drawing for explaining the horizontal flight test course according to an embodiment of the present invention. Here, each of A, B, C, D, E, and H can mean a marker.

[0071] Referring to FIG. 6, horizontal flight can be an evaluation that the drone 200 hovering above point A moves to point E and stops with the nose direction towards point C, then stops again after moving to point A while maintaining the nose direction.

[0072] The evaluation criteria for horizontal flight may be whether the drone 200 moves without separation within a range of 1 m to the left and right of the drone 200 and whether it stops accurately above each point. Here, the range that must not be separated is described as 1 m, but it is not limited to this.

[0073] FIG. 7 is a drawing for explaining a triangular flight test course according to an embodiment of the present invention. Here, each of A, B, and D may mean a marker.

[0074] Referring to FIG. 7, the triangular flight may evaluate that the drone 200 hovering above point A moves to point D, then moves back to point A so that the altitude increases, moves to point B so that the altitude decreases, and then moves back to point A again.

[0075] The evaluation criteria for triangular flight may be whether the altitude is within a preset range when the altitude increases and decreases. For example, the preset range when moving to point A so that the altitude increases may be 10.5 m to 12.5 m, and the preset range when moving to point B so that the altitude decreases may be 3 m to 5 m. That is, it may evaluate whether the altitude at each point A and point B is within the preset range.

[0076] Also, the evaluation criteria for triangular flight may be whether the drone 200 moves at a 45° angle when the altitude increases or decreases. When the drone 200 ascends or descends at a 45° angle and stops at points A and B, the drone 200 may be positioned at an altitude within the above-described preset range. Accordingly, the angle when ascending or descending may be set as an evaluation criterion.

[0077] FIG. 8 is a drawing for explaining a circular flight test course according to an embodiment of the present invention. Here, each of A, B, C, D, and H may mean a marker.

[0078] Referring to FIG. 8, the circular flight may evaluate that the nose of the drone 200 is turned to the right direction above the H point, and the drone 200 sequentially passes above the D point, the C point, and the B point while rotating the nose and then returns to the H point.

[0079] The evaluation criteria for the circular flight may be whether the drone 200 accurately passes above the D point, the C point, and the B point, and the direction of the nose of the drone 200 at each point.

[0080] FIG. 9 is a drawing for explaining a very close approach and landing test course according to an embodiment of the present invention. Here, H and F may each mean a label.

[0081] Referring to FIG. 9, the very close approach and landing may evaluate that the flying drone 200 vertically ascends to a certain height above the H point and then moves diagonally downward to the F point.

[0082] The evaluation criteria for the very close approach and landing may be whether the drone 200 ascends to a certain height above the H point and whether it moves at a speed 1.5 times faster than the normal moving speed when moving to the F point. Here, the speed 1.5 times faster than the normal moving speed may be preset, and it can be determined whether the speed when moving to the F point is the preset speed.

[0083] FIG. 10 is a drawing for explaining a normal approach and landing test course according to an embodiment of the present invention. Here, H and F may each mean a label.

[0084] Referring to FIG. 10, the normal approach and landing may evaluate that after taking off with the GPS turned off at the F point, it horizontally moves to the H point, lands at the H point, turns on the GPS after landing, and then takes off again.

[0085] The evaluation criteria for the normal approach and landing may be whether it takes off after confirming the GPS signal after landing at the H point.

[0086] FIG. 11 is a drawing for explaining a crosswind approach and landing test course according to an embodiment of the present invention. Here, each of A, B, C, D, and H may mean a sign.

[0087] Referring to FIG. 11, for the crosswind approach and landing, when the wind blows from point D to point B, after moving to point D with the nose direction facing point C, the nose direction is turned to the right and then moved to point D again, and it can be evaluated that the nose direction is turned to point C again.

[0088] The evaluation criteria for the crosswind approach and landing may be whether the nose direction is accurate at each point.

[0089] Referring to FIG. 3 again, the evaluation device 100 can analyze the shape of the trajectory generated by the virtual drone moving in the virtual space, and can determine whether the result of analyzing the shape of the trajectory satisfies the evaluation items and criteria. The specific method for determining whether the result of analyzing the shape of the trajectory satisfies the evaluation items and criteria will be specifically described with reference to FIGS. 12 to 17.

[0090] The evaluation device 100 can provide the result of the actual skill test based on the result of determining whether the result of analyzing the shape of the trajectory satisfies the evaluation items and criteria (S500).

[0091] For example, the evaluation device 100 can display whether it satisfies the evaluation criteria on a part of the screen where the virtual space is embodied, or can display whether it satisfies the evaluation criteria overlaid on the screen where the virtual space is embodied.

[0092] According to an embodiment of the present invention, the evaluation device 100 can provide a virtual space, display the trajectory of the virtual drone, save the movement of the virtual drone in the virtual space and the trajectory caused by the movement of the virtual drone, and can impart objectivity to the test.

[0093] In addition, the evaluation device 100 can change the direction of the virtual space according to the input of the evaluator. For example, for the virtual space displayed with one side as the front according to the input of the evaluator, the direction can be changed so that the other side in the direction having a specific angle with one side is displayed as the front. However, it is not limited to this, and it may be possible to change the direction so that the direction of viewing the virtual space from above becomes the front, and it may also be possible to enlarge or reduce a part of the virtual space.

[0094] In addition, since there may be unclear parts in judging the trajectory of the virtual drone in the virtual space represented in 3D, the evaluation device 100 can provide a reference line for assisting in the judgment of the trajectory. For example, in the case of circular flight, the trajectory can be generated at a specific height from the bottom, but when viewed with the naked eye, it may be difficult to confirm whether the virtual drone exactly passes over the mark displayed at the bottom. Accordingly, by displaying a reference line having a certain width from the position of the movement route or mark corresponding to the passing criterion to the height at which the trajectory is located, it can play a role in assisting the evaluator to judge the trajectory of the virtual drone. The reference line can be applied even when the direction of the virtual space is changed by being provided in the 3D virtual space, and the position, shape, and size of the reference line can all be different for each evaluation item.

[0095] FIG. 12 is a drawing showing a method of evaluating the actual test result based on the shape of the trajectory according to the first embodiment of the present invention.

[0096] Referring to FIG. 12, the evaluation device 100 can determine a parameter value for the movement of the virtual drone based on the result of analyzing the shape of the trajectory (S510). Here, the parameters can include distance, speed, angle, altitude, position, yaw, roll, pitch, and the like. For example, when performing a horizontal flight test, the evaluation device 100 can analyze the trajectory and determine the distance the virtual drone has advanced and the distance it has retreated.

[0097] On the other hand, in horizontal flight, altitude is not an important evaluation item. Accordingly, it may be possible to determine only the distance traveled by the virtual drone and not determine the height of the virtual drone.

[0098] The evaluation device 100 can compare the parameter value with the reference value (S511). For example, in the case of horizontal flight, it may be an important evaluation criterion for the virtual drone to stop exactly above each point. Accordingly, the evaluation device 100 may store the distance between each point as a reference value, and can compare the distance traveled by the virtual drone from one point to another with the reference value. Here, the reference value may mean a specific value or may mean a specific range having a certain error range from the reference value.

[0099] On the other hand, although the reference value in horizontal flight has been described as being set based on distance, the reference value in other flights may be set based on altitude, speed, angle, etc. Also, the reference value for each section in one flight test may be different.

[0100] For example, in the case of triangular flight, the reference value when moving from point A to point D in FIG. 7 may be the distance, and the reference value when moving back to point A while increasing the altitude may be the angle, or may be the angle and distance or altitude.

[0101] The evaluation device 100 can determine whether the parameter value is within the reference value range (S512).

[0102] When the parameter value of the evaluation device 100 is within the reference value range, it can be determined that the evaluation criterion is satisfied (S513), and when the parameter value is not within the reference value range, it can be determined that the evaluation criterion is not satisfied (S514).

[0103] FIG. 13 is a drawing showing a method of analyzing test results based on the shape of the locus according to the second embodiment of the present invention, and FIG. 14 is a drawing showing an example of setting a movable range according to the embodiment of the present invention.

[0104] Referring to FIGS. 13 and 14, the evaluation device 100 can set a movable range based on evaluation items and criteria with respect to a sign (S520). For example, in the case of horizontal flight, it may move from point A to point E. Accordingly, the evaluation device 100 can set a movement route 40 from point A to point E, and can set the movement route 40 to have a width 41 within a certain range. For example, the movement route 40 can be set as a straight line from point A to point E, and the range 41 of the movement route can be set to be 1 m on the left and right. Here, the movable range can include the movement route 40 and the range 41 of the movement route.

[0105] Based on the result of analyzing the shape of the locus, the evaluation device 100 can determine whether the virtual drone has moved within the movable range (S521).

[0106] The evaluation device 100 can extract the portion where the virtual drone has moved from point A to point E in the locus, and determine whether the extracted portion exists within the movable range.

[0107] When the virtual drone has moved within the movable range, the evaluation device 100 can determine that the evaluation criteria are satisfied (S522), and when the virtual drone has not moved within the movable range, the evaluation device 100 can determine that the evaluation criteria are not satisfied (S514).

[0108] FIG. 15 is a drawing showing a method of analyzing test results based on the shape of a locus according to a third embodiment of the present invention, and FIG. 16 is a drawing showing an example of calculating the similarity between the shape of a locus according to an embodiment of the present invention and a preset shape.

[0109] Referring to FIGS. 15 and 16, the evaluation device 100 can compare the shape of the trajectory with a shape preset according to the evaluation item (S530). For example, in the case of triangular flight, as shown in FIG. 7, after the drone 200 moves from point A to point D, it moves back to point A so that the altitude increases, then moves to point B so that the altitude decreases, and then moves back to point A. In this way, the drone 200 can fly along a triangular trajectory.

[0110] Accordingly, the evaluation device 100 may store a triangle as a preset shape for triangular flight. Since the length to each point and the altitude at each point are determined, the length of each side and the angle of the triangle can also have preset values.

[0111] Also, in the case of circular flight, as shown in FIG. 8, after the drone 200 sequentially passes above points D, C, and B from point H and returns to point H, the drone 200 can fly along a circular trajectory.

[0112] Accordingly, the evaluation device 100 may store a circle as a preset shape for circular flight. Since the length to each point and the size of the label are determined, the size of the circle (for example, the circumference) can also have a preset value.

[0113] On the other hand, although only circular flight and triangular flight are described, the present invention is not limited thereto. The evaluation device 100 may store a shape preset for each evaluation item.

[0114] The evaluation device 100 can extract the shape from the trajectory of the flying drone 100 according to the evaluation item and compare it with the shape preset according to the evaluation item. For example, the evaluation device 100 can obtain a circular trajectory T formed by a virtual drone on the virtual space 10 flying along the label M, and compare the obtained trajectory T with the shape preset for circular flight.

[0115] The evaluation device 100 can calculate the similarity between the shape of the trajectory and a preset shape (S531). The evaluation device 100 can calculate the similarity by comparing the size, length, angle, etc. of the preset shape with the size, length, angle, etc. of the trajectory T.

[0116] For example, the evaluation device 100 can quantify the degree of similarity for each item such as size, length, and angle between the trajectory T and the preset shape, and calculate the sum or average value of the scores to calculate the similarity. Also, the evaluation device 100 may store scores based on the difference values between the preset shape and the shape of the trajectory T for each item, and can calculate the similarity by extracting the scores based on the differences. Also, different weighting values can be set for each item, and the similarity can be calculated reflecting the weighting values. However, the method of calculating the similarity is not limited to this.

[0117] The evaluation device 100 can determine whether the calculated similarity is equal to or greater than a preset value (S532). The evaluation device 100 may store a similarity value that can pass the test as a preset value, and can determine whether the calculated similarity is equal to or greater than the preset value.

[0118] When the calculated similarity of the evaluation device 100 is equal to or greater than the preset value, it can be determined that the evaluation criteria are satisfied (S533), and when the calculated similarity is less than the preset value, it can be determined that the evaluation criteria are not satisfied (S534).

[0119] As described above, according to the embodiments of the present invention, a VR-based drone practical test evaluation method and system that utilize RTK GPS (Real Time Kinematic GPS) to measure the position and direction of a drone, display a trajectory on a virtual space embodying a drone practical test site according to the movement of the drone, and evaluate the results of the practical test can be embodied.

[0120] The embodiments of the present invention have been described above with reference to the attached drawings. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention can be implemented in other specific forms without changing its technical idea and essential features. Therefore, it should be understood that the embodiments described above are exemplary in all aspects and not restrictive. "Best Mode for Carrying Out the Invention"

[0121] The relevant content has been described in the best mode for carrying out the invention as described above.

Industrial Applicability

[0122] The present invention can be utilized in the service field that makes use of drones.

Claims

1. In a method performed by a computing device, obtaining information about a drone practical test site; implementing the practical test site in 3D based on the information about the practical test site; obtaining the position information and orientation information of the drone from an RTK GPS (Real Time Kinematic GPS) module mounted on the drone; and implementing a virtual drone at the same position as the drone on a virtual space implemented in 3D based on the obtained position information and orientation information of the drone; An RTK GPS-based VR drone practical test evaluation method.

2. The step of obtaining information about the drone practical test site further includes obtaining information about the position, size of the drone practical test site, and the position, shape and size of signs arranged for the evaluation of the practical test; The step of obtaining the position information and orientation information of the drone includes obtaining values for the latitude, longitude and altitude of the drone; and obtaining values for the yaw, roll and pitch of the drone; The RTK GPS-based VR drone practical test evaluation method according to claim 1.

3. The step of implementing the virtual drone controlling the virtual drone to move identically to the drone according to the movement of the drone on the virtual space based on the position information and the orientation information; displaying a trajectory formed by the movement of the virtual drone; and further includes analyzing the trajectory to evaluate the result of the practical test; The RTK GPS-based VR drone practical test evaluation method according to claim 1.

4. The step of evaluating the result of the practical test includes obtaining the evaluation items and evaluation criteria of the practical test; analyzing the shape of the trajectory; and determining whether the result of analyzing the shape of the trajectory meets the evaluation items and evaluation criteria; The RTK GPS-based VR drone practical test evaluation method according to claim 3.

5. The step of determining whether the evaluation items and evaluation criteria are met includes determining a parameter value for the movement of the virtual drone based on the result of analyzing the shape of the trajectory; comparing the parameter value with a reference value; When the parameter value is within the reference value range, determining that the evaluation criteria are satisfied; and providing whether the evaluation criteria are satisfied; The method for evaluating a drone practical skill test based on VR using RTK GPS according to claim 4, comprising:

6. The step of determining whether the evaluation items and evaluation criteria are satisfied includes: setting a movable range based on the mark according to the evaluation items and evaluation criteria of the practical skill test; determining whether the virtual drone has moved within the movable range based on the result of analyzing the shape of the trajectory; when the virtual drone has moved within the movable range, determining that the evaluation criteria are satisfied; and providing whether the evaluation criteria are satisfied; The method for evaluating a drone practical skill test based on VR using RTK GPS according to claim 4, comprising:

7. The step of determining whether the evaluation items and evaluation criteria are satisfied includes: comparing the shape of the trajectory with a shape preset according to the evaluation items; calculating a similarity between the shape of the trajectory and the preset shape; when the calculated similarity is equal to or greater than a preset value, determining that the evaluation criteria for the evaluation items are satisfied; and providing whether the evaluation criteria are satisfied; The method for evaluating a drone practical skill test based on VR using RTK GPS according to claim 4, comprising:

8. A drone operated by the operation of a tester; an RTK GPS (Real Time Kinematic GPS) module attached to the drone to measure the position and direction of the drone; and an evaluation device that acquires the position information and direction information of the drone from the RTK GPS module and embodies a virtual drone at the same position as the drone on a virtual space that embodies the drone practical skill test site in 3D based on the position information and the direction information; An RTK GPS-based VR drone practical skill test evaluation system.

9. a memory for storing one or more instructions; and a processor for executing the one or more instructions stored in the memory, wherein the processor, by executing the one or more instructions, performs the method according to claim 1.

10. A computer program stored on a computer-readable recording medium coupled to a computer which is hardware and capable of performing the method according to claim 1.

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