According to one embodiment of the present invention, provided is swarm flight controlling method for maintaining formation. The controlling method comprises the following steps of: storing a swarm flight schedule including formation; flying in accordance with a flight command of each drone set up to implement the formation; measuring the relative position with the other drone in real-time using a mounted sensor; detecting flight errors by comparing the formation to the measured relative positions; and correcting the flight errors by repeating calculation with respect to the relative position with the other drone in real-time to control the flight.
본 발명의 실시 예에 의한 포메이션을 유지하는 군집비행 제어방법은, 포메이션을 포함하는 군집비행일정을 저장하는 단계와, 포메이션을 구현하기 위해 설정된 각 단일드론 비행명령에 따라 비행하는 단계와, 탑재된 센서를 이용하여 타 드론과의 상대적 위치를 실시간 측정하는 단계와, 포메이션과 측정된 상대적 위치를 비교하여 비행오차를 검출하는 단계 및 실시간으로 상기 타 드론과의 상대적 위치에 대한 산출을 반복하며 비행을 제어함으로써, 비행오차를 보정하는 단계를 포함한다.
DRONE FOR MAINTAINING FORMATION OF SWARM FLIGHT AND METHOD THEREOF
군집비행의 포메이션을 유지하기 위한 드론 및 그 방법
2018-05-24
Patent
Electronic Resource
Korean
DRONE FOR MAINTAINING FORMATION OF SWARM FLIGHT AND METHOD THEREOF
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