Method and device for estimating position of aerial vehicle

Abstract

A method for estimating the position of an aerial vehicle, according to an aspect of the present invention, comprises the steps of: detecting a disturbance in determining the current position of a first aerial vehicle; analyzing signals received from second aerial vehicles located in the vicinity of the first aerial vehicle to identify the current positions of the second aerial vehicles; and estimating the current location of the first aerial vehicle on the basis of the current positions of the second aerial vehicles.

Description

Method and device for estimating the position of an aircraft

[0001] It relates to a method and device for estimating the position of an aircraft.

[0002]

[0003] Aerial vehicles (AVs) fly to approach a target, and various information about the target can be collected through the vehicle's camera. Aerial photography technology is being integrated into various fields and is even being used for the inspection of industrial structures. When the target is an industrial structure, the aerial vehicle's camera can capture images of the exterior or interior, allowing for the identification of any malfunctions or damage to the structure.

[0004] The aircraft is equipped with a GPS receiver, which receives GPS signals transmitted from satellites. Accordingly, the aircraft can calculate its current location based on the received GPS signals.

[0005] However, GPS signal interference can occur during aircraft flight for a variety of reasons. Even when GPS signal interference occurs, demand is growing for technologies that accurately estimate an aircraft's current location.

[0006]

[0007] The present invention provides a method and device for estimating the position of an aircraft. Furthermore, the present invention provides a computer-readable recording medium containing a program for executing the method on a computer. The technical challenges to be addressed are not limited to the technical challenges described above, and other technical challenges may exist.

[0008]

[0009] A method for estimating the position of an aircraft according to one aspect includes: a step of detecting that a disturbance has occurred in determining the current position of a first aircraft; a step of analyzing signals received from second aircraft located near the first aircraft to identify the current positions of the second aircraft; and a step of estimating the current position of the first aircraft based on the current positions of the second aircraft.

[0010] A computer-readable recording medium according to another aspect includes a recording medium having recorded thereon a program for executing the above-described method on a computer.

[0011] A device for estimating a position of an aircraft according to another aspect comprises at least one memory; and at least one processor; wherein the at least one processor detects that a disturbance has occurred in determining a current position of a first aircraft, analyzes signals received from second aircraft located in the vicinity of the first aircraft to identify the current positions of the second aircraft, and estimates the current position of the first aircraft based on the current positions of the second aircraft.

[0012] According to another aspect, an aircraft comprises at least one camera; at least one memory; and at least one processor; wherein the at least one processor detects a disturbance in the determination of the current position, analyzes signals received from aircraft located nearby to identify the current positions of the aircraft located nearby, and estimates the current position based on the current positions of the aircraft located nearby.

[0013]

[0014] FIG. 1 is a drawing for explaining an example of photographing an object using an aircraft according to one embodiment.

[0015] FIG. 2 is a drawing for explaining the relationship between an aircraft, a controller, a server, and a station according to one embodiment.

[0016] Figure 3 is a schematic diagram illustrating an example of an aircraft according to one embodiment.

[0017] FIG. 4 is a flowchart illustrating an example of a method for estimating the position of an aircraft according to one embodiment.

[0018] FIG. 5 is a diagram illustrating examples of a processor detecting the occurrence of a disturbance according to one embodiment.

[0019] FIG. 6 is a diagram illustrating examples of a processor identifying the current positions of second aircraft according to one embodiment.

[0020] FIG. 7 is a diagram illustrating an example of virtual location information according to one embodiment.

[0021] FIG. 8 is a diagram illustrating an example of a processor estimating the current position of a first aircraft according to one embodiment.

[0022] FIG. 9 is a diagram illustrating examples of other aircraft identifying their current location through a reference aircraft according to one embodiment.

[0023] FIG. 10 is a schematic diagram illustrating an example of a device for estimating the position of a moving aircraft according to one embodiment.

[0024]

[0025] The terms used in the examples are selected from widely used, current terms, as much as possible. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, the applicant may arbitrarily select terms, in which case their meanings will be described in detail in the relevant description. Therefore, the terms used in the specification should be defined based on their meaning and the overall content of the specification, rather than simply their names.

[0026] When a part of a specification is said to "include" a component, this does not mean that it excludes other components, but rather that it may include other components, unless otherwise stated.

[0027] Additionally, terms including ordinal numbers, such as "first" or "second," used in the specification may be used to describe various components, but the components should not be limited by the terms. The terms may be used to distinguish one component from another.

[0028] Below, embodiments are described in detail with reference to the attached drawings. However, the embodiments may be implemented in various different forms and are not limited to the examples described herein.

[0029]

[0030] FIG. 1 is a drawing for explaining an example of photographing an object using an aircraft according to one embodiment.

[0031] The aircraft (10) may include any aircraft capable of flight, including a drone, UAV (Unmanned Aerial Vehicle), UAM (Unmanned Aerial Mobility), aircraft, helicopter, etc.

[0032] The aircraft (10) can fly alone or with multiple aircraft capable of collaborating. Furthermore, the aircraft (10) can also collaborate with other types of devices, such as vehicles and robots. Furthermore, the aircraft (10) can automatically fly around the target object (20) along a predetermined flight path, or can manually fly around the target object (20) under user control.

[0033] The aircraft (10) can capture images of the object (20) while flying around the object (20). For example, the captured images of the object (20) can be used to determine whether the object (20) has a defect (e.g., a breakdown, damage, etc.). The user can detect, recognize, and / or identify the object (20) through the aircraft (10).

[0034]

[0035] As an example, the aircraft (10) can photograph the body or blades of a wind turbine. Specifically, the aircraft (10) can fly around the wind turbine to photograph the body or blades. For example, the aircraft (10) can take off from a station at a starting point and fly to the nose of the wind turbine. Then, the aircraft (10) can start photographing from the nose of the wind turbine and can photograph the blades while flying autonomously (or manually) along the blades. Typically, a wind turbine can include three blades, and the aircraft (10) can photograph the three blades to acquire images. At this time, the images photographed by the aircraft (10) can be utilized for inspection of the blades.

[0036] As another example, the aircraft (10) can photograph the surface of a large building. For example, the aircraft (10) can acquire images by photographing the surface while flying around the perimeter of the large building. In this case, the images captured by the aircraft (10) can be utilized for inspection of the surface of the large building.

[0037] As another example, the aircraft (10) can photograph various structures within a military facility. For example, a military facility may include barbed wire fences, buildings, and exterior walls, and the aircraft (10) can fly over various points within the military facility and photograph the surfaces of the structures. In this case, the images captured by the aircraft (10) can be utilized for inspection of the military facility.

[0038] Although wind turbines, bridges, large buildings, and military facilities are depicted as objects (20) in FIG. 1, the objects are not limited thereto. In other words, any structure having a shape may be applied to the objects (20) without limitation. For example, the objects (20) may be structures in the industrial field. The objects (20) may be structures for power generation (e.g., wind turbines, thermal power plants, hydroelectric power plants, nuclear power plants, solar power plants, etc.), large buildings (e.g., factories, exhibition halls, stadiums, etc.), bridges, dams, power lines, roads, etc., but are not limited thereto. As another example, the objects (20) may be structures that must be detected or information collected in the security and military fields (e.g., barbed wire fences, ammunition depots, exterior walls, etc.). As another example, anything that is difficult for a user to inspect entirely with the naked eye, dangerous, or requires a lot of manpower and cost for inspection may be applied to the objects (20).

[0039] FIG. 2 is a drawing for explaining the relationship between an aircraft, a controller, a server, and a station according to one embodiment.

[0040] Referring to FIG. 2, the server (30), the controller (40), and the station (50) can independently or jointly control the aircraft (10). For example, the server (30), the controller (40), and the station (50) can control the operation (e.g., movement, rotation, etc.) of the aircraft (10) or control the filming of the aircraft (10).

[0041] The aircraft (10) includes at least one camera, and can capture images of an object (20) using the camera. For example, the camera can be installed at a location advantageous for capturing images during flight of the aircraft (10) (e.g., an area not obscured by a propeller, etc., at the front or lower front of the aircraft).

[0042] For example, the aircraft (10) can fly using a global navigation satellite system (GNSS) and / or an inertial navigation system (INS).

[0043] For example, the aircraft (10) can transmit and receive data with a server (30), a controller (40), and / or a station (50). In addition, the controller (40) and the server (30), the server (30) and the station (50), and the station (50) and the controller (40) can transmit and receive data with each other.

[0044] Here, the data may include data required to control the flight of the aircraft (10), data on a flight image of the aircraft (10), data on an image taken of an object (20) by the aircraft (10), etc.

[0045] A flight image represents the field of view of an aircraft (10) when the aircraft (10) is flying. For example, the flight image may be a dynamic image acquired in real time, but is not limited thereto.

[0046] The image captured by the aircraft (10) of the target object (20) refers to an image captured by the aircraft (10) while flying around the target object (20). At this time, the image captured by the aircraft (10) of the target object (20) can be used as an image to check for defects in the target object (20). In this case, the image captured by the aircraft (10) of the target object (20) can be referred to as an inspection image.

[0047] For example, the flight image may be an image with a relatively low resolution (or a low GSD (Ground Sampling Distance)) compared to the inspection image, and the inspection image may be an image with a relatively high resolution (or a high GSD) compared to the flight image. Meanwhile, depending on the type of aircraft (10), the cameras that generate the flight image and the inspection image may be the same or different.

[0048] A user can control the aircraft (10) using the interface of the controller (40). For example, the controller (40) can generate a control signal based on user input received through the interface and transmit the control signal to the aircraft (10). The controller (40) can transmit the control signal to the aircraft (10) via wireless communication. The control signal may be a signal that controls the flight, attitude, navigation, etc. of the aircraft.

[0049] The aircraft (10) can control the motor to rotate the propeller according to the control signal received from the controller (40). The aircraft (10) can move, rotate, etc. by changing the speed and / or attitude, etc. by the rotation of the propeller. Here, the attitude of the aircraft can be expressed as pitch (Y), roll (X), yaw (Z), etc. In addition, the aircraft can perform photographing of the target object (20), etc. according to the control signal received from the controller (40).

[0050] The controller (40) may further include a display device, and the user may check the flight image and / or inspection image of the aircraft (10) through the display device.

[0051] The controller (40) may be a device on which an application for controlling an aircraft (10) is installed. For example, the device on which the application is installed may be a variety of portable devices such as a smartphone, tablet, smart pad, laptop, or wearable device.

[0052] The server (30) or station (50) can control the aircraft (10) by directly transmitting a control signal to the aircraft. In addition, the aircraft (10) can transmit a flight image and / or an inspection image to the server (30), controller (40), or station (50).

[0053] The aircraft (10), server (30), controller (40), and station (50) can each analyze the inspection image. For example, the analysis of the inspection image may be to determine whether there is a defect in the target object (20) in the inspection image through an algorithm such as machine learning or deep learning. The aircraft (10) may directly determine whether there is a defect in the target object (20), or may transmit the inspection image to the server (30), controller (40), or station (50). The server (30), controller (40), or station (50) may analyze the inspection image received from the aircraft (10) to determine whether there is a defect in the target object (20).

[0054] Meanwhile, the aircraft (10) determines its current location using GPS signals received from an artificial satellite. Determining the aircraft's (10) current location is very important for the aircraft (10) to set a flight path or achieve a flight purpose (e.g., a mission).

[0055] However, due to various causes, the determination of the current location of the aircraft (10) may be disrupted. For example, GPS signals received by the aircraft (10) may be disrupted. For example, GPS jamming or GPS spoofing may be examples of GPS signal disruption.

[0056] If a disturbance occurs in determining the current location of an aircraft (10) according to one embodiment, the processor can accurately estimate the current location of the aircraft (10) by analyzing signals received from other aircraft located nearby. Accordingly, even if a disturbance occurs in the GPS signals received by the aircraft (10), the aircraft (10) can fly normally, and the flight purpose of the aircraft (10) can be achieved without a problem.

[0057] Figure 3 is a schematic diagram illustrating an example of an aircraft according to one embodiment.

[0058] Referring to FIG. 3, the aircraft (10) may include a sensor (110), a camera (120), a memory (130), a driving device (140), a communication device (150), and a processor (160). However, the components of the aircraft (10) are not limited to those illustrated in FIG. 3. In other words, the aircraft (10) may include at least one more component in addition to the components illustrated in FIG. 3, or at least one of the components illustrated in FIG. 3 may be excluded.

[0059] The sensor (110) detects various information necessary for the operation of the aircraft (10) (e.g., flight, photography, etc.), such as the aircraft (10) itself, the surrounding environment of the aircraft (10), identification of the target (20), and confirmation of the distance between the aircraft (10) and the target (20). The sensor (110) may include, but is not limited to, a gyro sensor, a barometer, an ultrasonic sensor, a magnetic sensor, an acceleration sensor, a proximity sensor, a lidar, a radar, and / or a GPS sensor.

[0060] For example, a gyro sensor and / or an acceleration sensor can measure the three-axis angular velocity of the aircraft (10). A barometer can measure pressure changes and / or air pressure in the atmosphere around the aircraft (10). Since air pressure varies with altitude, the aircraft (10) can also measure the altitude of the aircraft (10) using the barometer. An ultrasonic sensor can measure the distance between the aircraft (10) and the ground or an object (20). A magnetic sensor is a type of terrestrial magnetism sensor (compass sensor) and can detect geomagnetic information.

[0061] For example, a proximity sensor can measure the proximity state of an object (20) to an aircraft (10), the distance between the aircraft (10) and the object (20), and can include an ultrasonic sensor that can measure the distance to the object (20) from a signal reflected from the object (20) by outputting ultrasonic waves. A GPS sensor can calculate the current coordinates (x, y, z) of the aircraft (10) using GPS signals.

[0062] The sensor (110) may include an attitude and heading reference system (AHSR). For example, the attitude and heading reference system may include an inertial sensor or an inertial measurement unit (IMU). For example, the attitude and heading reference system may include a gyro sensor, an acceleration sensor, and a magnetic sensor, and fuse the sensor values ​​to obtain the attitude value of the aircraft (10). ) can be output. Here, the detailed value ( ) can be an angle based on three-dimensional coordinates (x-axis coordinate, y-axis coordinate, z-axis coordinate) according to GPS coordinates.

[0063] The camera (120) can photograph the object (20) according to instructions from the processor (160). For example, the aircraft (10) can include at least one camera, and can include a low-resolution camera and / or a high-resolution camera.

[0064] The camera (120) can be combined with a gimbal whose angle can be adjusted. Accordingly, the shooting angle of the camera (120) can be adjusted by the gimbal.

[0065] The memory (130) may include any non-transitory computer-readable recording medium. As an example, the memory (130) may include a non-permanent mass storage device such as a random access memory (RAM), a read only memory (ROM), a disk drive, a solid state drive (SSD), a flash memory, etc. As another example, the non-permanent mass storage device such as a ROM, an SSD, a flash memory, a disk drive, etc. may be a separate permanent storage device distinct from the memory. In addition, the memory (130) may store an operating system (OS) and at least one program code (e.g., a code for the processor (160) to perform an operation to be described later with reference to FIGS. 3 to 10).

[0066] These software components may be loaded from a computer-readable recording medium separate from the memory (130). This separate computer-readable recording medium may be a recording medium that can be directly connected to a computer, and may include, for example, a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, a memory card, etc. Alternatively, the software components may be loaded into the memory (130) via a communication device (150) other than a computer-readable recording medium. For example, at least one program may be loaded into the memory (160) based on a computer program (e.g., a computer program for the processor (160) to perform the operations described below with reference to FIGS. 3 to 10) that is installed by files provided by developers or a file distribution system that distributes installation files of applications via the communication device (150).

[0067] The driving device (140) controls the driving of the motor at a speed and direction according to instructions from the processor (160), and accordingly, the rotational speed and direction of the propeller connected to the motor can be controlled. For example, the driving device (140) may include a motor and a propeller.

[0068] The communication device (150) performs data communication between the aircraft (10) and an external device. For example, the communication device (150) may communicate with the controller (40), server (30), and / or station (50) using various communication methods such as infrared communication, RF (Radio Frequency) communication, Wi-Fi communication, ZigBee communication, Bluetooth communication, laser communication, UWB (Ultra-Wideband) communication, LTE, 5G, 6G, and wireless LAN. However, the communication method employed in the communication device (150) is not limited to the above-described method.

[0069] The processor (160) can process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. Here, the instructions can be provided from memory (130) or an external device (e.g., a server (30), a controller (40), a station (50), etc.). In addition, the processor (160) can generally control the operations of other components included in the aircraft (10).

[0070] For example, the functions performed by each module included in the processor (160) may be performed by one processor or by separate processors. The processor (160) may perform calculations or data processing related to control and / or communication of at least one other component of the aircraft (10).

[0071] First, the processor (160) detects that a disturbance has occurred in determining the current position of the first aircraft. Here, the first aircraft refers to the aircraft (10). As an example, the processor (160) may detect that a disturbance has occurred by comparing the magnitude or rate of change of the magnitude of the GPS signal received by the first aircraft with a threshold value. As another example, the processor (160) may detect that a disturbance has occurred by comparing second position information estimated based on the position information of the second aircraft with second position information estimated based on the GPS signal received by the first aircraft. Here, the second aircraft refers to aircraft flying in the vicinity of the aircraft (10).

[0072] Thereafter, the processor (160) analyzes signals received from second aircraft located near the first aircraft to identify the current locations of the second aircraft. For example, the processor (160) can check the light transmitted from the second aircraft through the camera (120) of the first aircraft and identify the current locations of the second aircraft based on the transmitted light. The first and second aircraft can transmit light indicating their locations (GPS coordinates) during flight. Here, the transmitted light includes a flickering light indicating the location information of each of the second aircraft. As another example, the processor (160) can identify the current locations of the second aircraft based on virtual location information received from the second aircraft. Here, the virtual location information includes a code indicating a sub-region corresponding to the current location of each of the second aircraft among a plurality of sub-regions included in a predetermined area. Since the data transmission and reception of the first and second aircraft can be disrupted by external interference, the first and second aircraft can receive information without being hindered by radio interference by transmitting information that can be received by a camera. In other words, the first and second aircraft flying in a swarm share each other's GPS coordinates, allowing normal flight even in the event of GPS interference. However, embodiments of the present invention are not limited thereto, and the first and second aircraft can also transmit information that can be transmitted and received through other components other than the camera.

[0073] Thereafter, the processor (160) estimates the current location of the first aircraft based on the current locations of the second aircraft. For example, the processor (160) may estimate the current location of the first aircraft by combining information about the relative positional relationship between the first aircraft and each of the second aircraft and the current location of each of the second aircraft.

[0074] The operations of the processor (160) described above are specifically explained with reference to FIGS. 4 to 9.

[0075] For example, the processor (160) may be implemented as an array of a plurality of logic gates, or it may be implemented as a combination of a general-purpose microprocessor and a memory storing a program that can be executed on the microprocessor. For example, the processor (160) may include a general-purpose processor, a central processing unit (CPU), a graphics processing unit (GPU), a neural processing unit (NPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, and the like. In some environments, the processor (160) may include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), and the like. For example, the processor (160) may also refer to a combination of processing devices, such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of a plurality of microprocessors, a combination of one or more microprocessors coupled with a digital signal processor (DSP) core, or any other such combination of configurations.

[0076] Meanwhile, the operation of the processor (160) described above with reference to FIG. 3 may be implemented by a separate device. In this case, the separate device (hereinafter referred to as a “device for estimating the position of an aircraft”) may be included in at least one of the aircraft (10), the server (30), the controller (40), the station (50), and another external device. When the device for estimating the position of an aircraft is included in at least one of the server (30), the controller (40), the station (50), and another external device, the aircraft (10) may detect that a disturbance has occurred in determining its current position, and transmit the detection result to the device for estimating the position of the aircraft. Alternatively, the device for estimating the position of the aircraft may independently determine that a disturbance has occurred in determining the current position of the aircraft (10). An example of a device for estimating the position of an aircraft will be described below with reference to FIG. 10.

[0077] FIG. 4 is a flowchart illustrating an example of a method for estimating the position of an aircraft according to one embodiment.

[0078] The method illustrated in FIG. 4 is comprised of steps that are processed sequentially in the aircraft (10) or processor (160) illustrated in FIGS. 1 to 3. Therefore, even if omitted below, the content described above regarding the aircraft (10) or processor (160) may also be applied to the method illustrated in FIG. 4. In addition, the operations of the processor (160) below may also be performed by the device for estimating the position of the aircraft illustrated in FIG. 10.

[0079] At step 410, the processor (160) detects that a disturbance has occurred in the determination of the current position of the first aircraft.

[0080] Here, the occurrence of a disturbance in determining the current position includes not only a state in which the current position cannot be accurately determined, but also a state in which the operation of determining the position is impossible. In other words, the processor (160) detects a case in which the current position of the first aircraft cannot be accurately determined or a case in which the position of the first aircraft cannot be determined. For example, the processor (160) can detect the occurrence of a disturbance based on a GPS signal received by the first aircraft. Since a GPS disturbance signal only affects a specific area (or range) and distance, only some aircraft among aircraft flying in a group may be affected by the GPS disturbance.

[0081] Additionally, the processor (160) may be incorporated into the first aircraft, or may be incorporated into another device or another aircraft. If the processor (160) is incorporated into another device or another aircraft, the other device or another aircraft may be notified by the first aircraft that a disturbance has occurred. Alternatively, the other device or another aircraft may independently determine whether a disturbance has occurred in the first aircraft.

[0082] Hereinafter, with reference to FIG. 5, examples in which the processor (160) detects that a disturbance has occurred in the judgment of the current position of the first aircraft will be described.

[0083] FIG. 5 is a diagram illustrating examples of a processor detecting the occurrence of a disturbance according to one embodiment.

[0084] Referring to FIG. 5, the first aircraft (10) can determine its current location by receiving GPS signals from an artificial satellite (510). While FIG. 5 illustrates one artificial satellite (510), this is merely an example for convenience of explanation. For example, the first aircraft (10) can receive GPS signals from three or more artificial satellites (510).

[0085] Meanwhile, the first aircraft (10) may not be able to accurately determine its location due to the signal transmitted from the device (520). For example, the device (520) may transmit a signal that has the same frequency band as the GPS signal transmitted from the satellite (510) but is larger in size than the GPS signal. Accordingly, the first aircraft (10) may not be able to accurately determine its location because it is unable to receive the GPS signal from the satellite (510). Alternatively, the device (520) may transmit a false GPS signal. Accordingly, the aircraft (10) may not be able to accurately determine its location by receiving the signal transmitted from the device (520).

[0086] As an example, the processor (160) can detect that a disturbance has occurred by comparing the magnitude or rate of change in magnitude of the GPS signal received by the first aircraft (10) with a threshold value.

[0087] In general, the size of a normal GPS signal received from a satellite (510) is within a specific range. Therefore, if the GPS signal received by the first aircraft (10) exceeds the threshold value, the processor (160) can determine that the GPS signal received by the first aircraft (10) is not a normal GPS signal. In addition, if the size of the GPS signal received by the first aircraft (10) changes without a special reason, it can be determined that a normal GPS signal is not received from the satellite (510). Therefore, if the rate of change in the size of the GPS signal received by the first aircraft (10) exceeds the threshold value, the processor (160) can determine that the GPS signal received by the first aircraft (10) is not a normal GPS signal.

[0088] As another example, the processor (160) can detect that a disturbance has occurred by comparing the first location information estimated based on the location information of the second aircraft and the second location information estimated based on the GPS signal received by the first aircraft (10).

[0089] The second aircrafts refer to aircrafts located near the first aircraft (10). The first aircraft (10) can receive location information of each aircraft from the second aircrafts. Accordingly, the processor (160) can generate first location information by estimating its own location based on the location information of the second aircrafts. In addition, the processor (160) can generate second location information by estimating its own location based on a GPS signal received from the outside. In addition, the processor (160) can detect the occurrence of disturbance by comparing the first location information with the second location information. If the first location information and the second location information indicate different locations, the processor (160) can determine that the GPS signal received by the aircraft (10) is not a normal GPS signal.

[0090] Referring again to FIG. 4, at step 420, the processor (160) analyzes signals received from second aircraft located in the vicinity of the first aircraft (10) to identify the current locations of the second aircraft.

[0091] For example, the first aircraft (10) can receive various types of signals from the second aircraft, and the processor (160) can analyze the received signals to identify the current location of each of the second aircraft. Hereinafter, examples of the processor (160) identifying the current locations of the second aircraft will be described with reference to FIGS. 6 and 7.

[0092] FIG. 6 is a diagram illustrating examples of a processor identifying the current positions of second aircraft according to one embodiment.

[0093] Referring to FIG. 6, the first aircraft (10) can receive various types of signals from each of the second aircrafts (610, 620), and the processor (160) analyzes the signals to identify the current location of the second aircrafts (610, 620).

[0094] As an example, the first aircraft (10) can receive GPS signals from the second aircrafts (610, 620). Accordingly, the processor (160) can analyze the GPS signals to identify the current locations of the second aircrafts (610, 620). The second aircrafts (610, 620) can serve as beacons for the first aircraft (10). The first aircraft (10) and the second aircrafts (610, 620) continuously output signals indicating their current locations during flight.

[0095] As another example, the first aircraft (10) can identify the light (611, 621) transmitted from the second aircraft (610, 620). For example, the first aircraft (10) can identify the light (611, 621) through the camera (120). At this time, the light (611, 621) may be a flickering light indicating the location information of the second aircraft (610, 620). The camera (120) can capture the entire surroundings of the first aircraft (10). For example, the camera (120) may be capable of capturing 360 degrees.

[0096] For example, the flickering light may represent coordinates corresponding to the positions of the second aircraft (610, 620) in the form of Morse code. Accordingly, the processor (160) can identify the current positions of the second aircraft (610, 620) by analyzing the number of times the light (611, 621) blinks and the time the light is transmitted.

[0097] Meanwhile, the light (611, 621) may be infrared or ultraviolet light, not visible light. In other words, the wavelength band of the light (611, 621) may be a wavelength band that cannot be detected by the naked eye.

[0098] Additionally, the light (611, 621) is not limited to flickering light. For example, the first aircraft (10) and the second aircraft (610, 620) can transmit and receive information in a Li-Fi manner.

[0099] As another example, the first aircraft (10) can identify the current locations of the second aircraft (610, 620) based on virtual location information received from the second aircraft (610, 620). For example, the virtual location information may be a code indicating a sub-area corresponding to the current location of each of the second aircraft (610, 620) among a plurality of sub-areas included in a predetermined area. Hereinafter, an example of virtual location information received by the first aircraft (10) will be described with reference to FIG. 7.

[0100] FIG. 7 is a diagram illustrating an example of virtual location information according to one embodiment.

[0101] Figure 7 illustrates an example of an area (710) in which an aircraft flies. For example, the area (710) may be divided into multiple sub-areas (711 to 71n, where n is a natural number greater than or equal to 2). The area (710) may represent an area in which an aircraft is scheduled to fly or an operational area.

[0102] The second aircraft (720) identifies a sub-area (712) corresponding to the area in which it is currently located within the area (710). Furthermore, the second aircraft (720) generates a code indicating the sub-area (712) and outputs the code using light. Outputting the code using light may mean that the second aircraft (720) transmits a code in a form that can be received by a camera to surrounding aircraft. Accordingly, the processor (160) can analyze the code received from the second aircraft (720) to identify the sub-area (712).

[0103] For example, each of the sub-areas (711 to 71n) may be pre-matched with the GPS coordinates of the corresponding location. Therefore, the processor (160) can know the GPS coordinates of the corresponding sub-area by only checking the information about the sub-areas (711 to 71n). If the code is assumed to be a series of numbers, the sub-area (712) may be represented by a series of binary numbers, such as 101101110110111. Therefore, the processor (160) can know the sub-area (712) corresponding to the current location of the second aircraft (720) by receiving the code from the second aircraft (720). In addition, the processor (160) can also know the GPS coordinates of the sub-area (712).

[0104] Meanwhile, although FIG. 7 illustrates that the region (710) is divided into two-dimensional sub-regions (711 to 71n), this is not limited thereto. In other words, the region (710) may be divided into three-dimensional sub-regions. In this case, each sub-region may also include height information.

[0105] Referring again to FIG. 4, at step 430, the processor (160) estimates the current location of the first aircraft based on the current locations of the second aircraft.

[0106] For example, the processor (160) can estimate the current position of the first aircraft by combining information about the relative positional relationship between the first aircraft and each of the second aircraft and the current position of each of the second aircraft. Here, the relative positional relationship between the first aircraft and each of the second aircraft may be expressed in degrees, but is not limited thereto. Hereinafter, with reference to FIG. 8, an example of the processor (160) estimating the current position of the first aircraft will be described.

[0107] FIG. 8 is a diagram illustrating an example of a processor estimating the current position of a first aircraft according to one embodiment.

[0108] FIG. 8(a) illustrates an example of the positions of the first aircraft (10) and the second aircraft (810, 820) from a first viewpoint (e.g., a side view). FIG. 8(b) also illustrates an example of the positions of the first aircraft (10) and the second aircraft (810, 820) from a second viewpoint (e.g., a top view).

[0109] As described above with reference to step 420, the processor (160) can check the current position of each of the second aircrafts (810, 820) in advance. Accordingly, the processor (160) can predict the current position of the first aircraft (10) by further considering the relative positional relationship between the first aircraft (10) and each of the second aircrafts (810, 820).

[0110] For example, as the second aircrafts (810, 820) are identified through the camera (120) of the first aircraft (10), the processor (160) can confirm the relative positional relationship between the first aircraft (10) and each of the second aircrafts (810, 820). Here, the relative positional relationship may be expressed in angles, but is not limited thereto.

[0111] Referring to FIG. 8(a), the first aircraft (10) can confirm the positional relationship with surrounding aircrafts (810, 820) through the attitude and the angle of the camera. The processor (160) can confirm the positional relationship between the first aircraft (10) and the second aircraft (810) according to the first viewpoint as angle θ11, and the positional relationship between the first aircraft (10) and the second aircraft (820) according to the first viewpoint as angle θ21. In addition, the processor (160) can confirm the positional relationship between the first aircraft (10) and the second aircraft (810) according to the second viewpoint as angle θ12, and the positional relationship between the first aircraft (10) and the second aircraft (820) according to the second viewpoint as angle θ22.

[0112] And, the processor (160) can estimate the current position of the first aircraft (10) using the positional relationships. For example, the processor (160) can obtain the intersection point (P1) of a virtual straight line having an angle θ11 with respect to the second aircraft (810) and a virtual straight line having an angle θ21 with respect to the second aircraft (820). And, the processor (160) can obtain the intersection point (P2) of a virtual straight line having an angle θ12 with respect to the second aircraft (810) and a virtual straight line having an angle θ22 with respect to the second aircraft (820).

[0113] Since the processor (160) knows in advance the current location of each of the second aircraft (810, 820), the processor (160) can also determine the locations of the intersection points (P1) and (P2). Accordingly, the processor (160) can determine the location derived from the intersection points (P1) and (P2) as the current location of the first aircraft (10).

[0114] FIG. 9 is a diagram illustrating examples of other aircraft identifying their current location through a reference aircraft according to one embodiment.

[0115] Referring to FIG. 9, a swarm aircraft may include a reference aircraft (10_R) and other aircraft (10_E). In this case, the reference aircraft (10_R) may also be referred to as a leader drone or a reference drone. The reference aircraft (10_R) and other aircraft (10_E) may be of the same type of aircraft or may be of different types of aircraft.

[0116] In some examples, the other aircraft (10_E) can identify the location of the other aircraft (10_E) through the location of the reference aircraft (10_R). For example, the other aircraft (10_E) can include the first aircraft (10) described above in FIGS. 4 to 8, the reference aircraft (10_R) can include the second aircraft (610, 620) described above in FIGS. 4 to 8, and the other aircraft (10_E) can identify and estimate its own current location (the other aircraft (10_E)) based on the current location of the reference aircraft (10_R) in the manner described above in FIGS. 4 to 8.

[0117] For example, the reference aircraft (10_R) may include an aircraft configured, equipped with technology, operation, and processing capable of responding to a soft kill attack. For example, the reference aircraft (10_R) may include an aircraft equipped with anti-jamming functions, anti-spoofing functions, non-GPS navigation functions, etc. A reference aircraft (10_R) equipped with such functions can respond to a soft kill attack applied from the outside, and at this time, other aircraft (10_E) can accurately identify their current locations through the reference aircraft (10_R).

[0118] As another example, the reference aircraft (10_R) may include an aircraft equipped with a function capable of determining the current location of the reference aircraft (10_R) even in places with weak GPS signals, such as indoors. Accordingly, other aircraft (10_E) can accurately identify their current locations through the reference aircraft (10_R), which can recognize their current locations even in spaces such as indoors.

[0119] FIG. 10 is a schematic diagram illustrating an example of a device for estimating the position of a moving aircraft according to one embodiment.

[0120] Referring to FIG. 10, a device (900) for photographing a moving object includes a processor (910), a memory (920), and a communication device (930). However, the components of the device (900) are not limited to those illustrated in FIG. 10. In other words, the device (900) may include at least one more component in addition to the components illustrated in FIG. 10, or at least one of the components illustrated in FIG. 10 may be excluded.

[0121] As described above with reference to FIG. 3, the device (900) may be included in at least one of the aircraft (10), the server (30), the controller (40), the station (50), and other external devices. Accordingly, the processor (160), the memory (130), and the communication device (150) described above with reference to FIG. 3 may correspond to the processor (910), the memory (920), and the communication device (930) of the device (900), respectively. Therefore, a detailed description of the processor (910), the memory (920), and the communication device (930) is omitted.

[0122] As described above, if a disturbance occurs in determining the current location of the aircraft (10), the processor (160, 910) can accurately estimate the current location of the aircraft (10) by analyzing signals received from other aircraft located nearby. Accordingly, even if a disturbance occurs in the GPS signals received by the aircraft (10), the aircraft (10) can fly normally, and the flight purpose of the aircraft (10) can be achieved without a problem.

[0123] Meanwhile, the above-described method can be written as a program that can be executed on a computer, and can be implemented on a general-purpose digital computer that runs the program using a computer-readable recording medium. In addition, the structure of the data used in the above-described method can be recorded on a computer-readable recording medium through various means. The computer-readable recording medium includes storage media such as magnetic storage media (e.g., ROM, RAM, USB, floppy disk, hard disk, etc.) and optical reading media (e.g., CD-ROM, DVD, etc.).

[0124] Those skilled in the art will appreciate that the present invention can be implemented in modified forms without departing from the essential characteristics of the above-described invention. Therefore, the disclosed methods should be considered illustrative rather than restrictive. The scope of the claims, not the foregoing description, is defined by the scope of the patent, and should be interpreted to encompass all differences within the scope equivalent thereto.

[0125]

[0126] [Explanation of symbols]

[0127] 10: Aircraft

[0128] 20: Object

Claims

1. A step of analyzing signals received from a second aircraft located near the first aircraft to identify the current location of the second aircraft; and A method for estimating the position of an aircraft, comprising: a step of estimating the current position of the first aircraft based on the current position of the second aircraft.

2. In paragraph 1, A method for estimating the position of an aircraft, further comprising a step of detecting that a disturbance has occurred in determining the current position of the first aircraft.

3. In paragraph 2, The above detection step is, A method for detecting the occurrence of disturbance by comparing the magnitude of the GPS signal received by the first aircraft or the rate of change of the magnitude with a threshold value.

4. In paragraph 1, The above detection step is, A method for detecting that a disturbance has occurred by comparing first location information estimated based on location information of the second aircraft and second location information estimated based on GPS signals received by the first aircraft.

5. In paragraph 1, The above identifying step is, A method for identifying the current location of a second aircraft based on light transmitted from the second aircraft confirmed through a camera of the first aircraft.

6. In paragraph 5, The light transmitted above is, A method comprising a flickered light indicating position information of each of the second aircraft.

7. In paragraph 1, The above identifying step is, A method for identifying the current location of a second aircraft based on virtual location information received from the second aircraft.

8. In paragraph 7, The above virtual location information is, A method comprising a code indicating a sub-region corresponding to the current location of each of the second aircraft among a plurality of sub-regions included in a given area.

9. In paragraph 1, The above estimating steps are: A method for estimating the current location of the first aircraft by combining information about the relative positional relationship between the first aircraft and the second aircraft and the current location of each of the second aircraft.

10. A computer-readable recording medium recording a program for executing the method of Article 1 on a computer.

11. At least one memory; and comprising at least one processor; At least one processor, A device for estimating the position of an aircraft, which analyzes signals received from a second aircraft located near a first aircraft to identify the current position of the second aircraft, and estimates the current position of the first aircraft based on the current position of the second aircraft.

12. In paragraph 11, At least one processor, A device that detects that a disturbance has occurred by comparing the magnitude of a GPS signal received by the first aircraft or the rate of change of the magnitude with a threshold value.

13. In paragraph 11, At least one processor, A device that detects that a disturbance has occurred by comparing first location information estimated based on location information of the second aircraft and second location information estimated based on GPS signals received by the first aircraft.

14. In paragraph 11, At least one processor, A device that identifies the current location of the second aircraft based on light transmitted from the second aircraft confirmed through a camera of the first aircraft.

15. In paragraph 14, The light transmitted above is, A device comprising a flickered light indicating location information of each of the second aircraft.

16. In paragraph 11, At least one processor, A device that identifies the current location of the second aircraft based on virtual location information received from the second aircraft.

17. In paragraph 16, The above virtual location information is, A device comprising a code indicating a sub-region corresponding to the current location of each of the second aircraft among a plurality of sub-regions included in a given area.

18. In paragraph 11, The above estimating steps are: A device that estimates the current location of the first aircraft by combining information about the relative positional relationship between the first aircraft and the second aircraft and the current location of each of the second aircraft.

19. At least one camera; At least one memory; and comprising at least one processor; At least one processor, An aircraft that detects a disturbance in its judgment of its current location, analyzes signals received from nearby aircraft to identify the current locations of said nearby aircraft, and estimates said current location based on the current locations of said nearby aircraft.

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