The Journal of Korean Institute of Communications and Information Sciences (한국통신학회논문지)

The Korean Institute of Commucations and Information Sciences (한국통신학회)
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Real-Time Shooting Area Analysis Algorithm of UAV Considering Three-Dimensional Topography

입체적 지형을 고려한 무인항공기의 실시간 촬영 영역 분석 알고리즘

  • 박우민 (한국산업기술대학교 대학원 전자공학과) ;
  • 최정훈 (한국산업기술대학교 전자공학부) ;
  • 최성근 (한국산업기술대학교 대학원 전자공학과) ;
  • 황남두 (한국산업기술대학교 지식기반기술.에너지대학원) ;
  • 김환철 ((주)코메스타)
  • Received : 2013.08.31
  • Accepted : 2013.11.12
  • Published : 2013.12.31
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Abstract

In this paper, based on the information about navigation system of UAV with PTZ camera and 3D topography, algorithm able to show us in real-time UAV's geographical shooting location and automatically calculate superficial measure of the shooting area is proposed. And the method that can automatically estimate whether UAV is allowed to shoot a specific area is shown. In case of an UAV's shooting attempt at the specific area, obtainability of valid image depends on not only UAV's location but also information of 3D topography. As a result of the study, Ground Control Center will have real-time information about whether UAV can shoot the needed topography. Therefore, accurate remote flight control will be possible in real-time. Furthermore, the algorithm and the method of estimating shooting probability can be applied to pre-flight simulation and set of flight route.

본 논문에서는 PTZ(Pan Tilt Zoom) 카메라를 장착한 무인항공기의 항법장치 정보와 촬영지역의 입체적 지형정보를 기반으로, 무인항공기가 촬영하는 지리적 위치를 실시간으로 파악하고 촬영 지역의 면적을 자동 산출할 수 있는 알고리즘을 제안한다. 또한 제안한 알고리즘과 더불어 특정 지역의 촬영 가능 여부를 자동 판단할 수 있는 방안을 설명한다. 무인항공기가 원하는 특정지역의 촬영을 시도할 경우에는 항공기의 위치와 고도뿐만 아니라 해당 지역의 입체적 지형에 의하여 유효한 영상의 획득 가능여부가 결정된다. 본 연구의 결과를 적용하면 지상관제센터에서 무인항공기가 촬영하는 영상이 원하는 지역의 정보인지 실시간으로 판단할 수 있으므로 정확한 실시간 원격 운항 제어가 가능하다. 그리고 제안한 알고리즘과 촬영가능여부를 판단하는 방안은 사전 모의 운항 및 운항경로 설정에 유용하게 응용할 수 있다.

Keywords

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