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.


    Access

    Download


    Export, share and cite



    Title :

    DRONE FOR MAINTAINING FORMATION OF SWARM FLIGHT AND METHOD THEREOF


    Additional title:

    군집비행의 포메이션을 유지하기 위한 드론 및 그 방법


    Contributors:
    CHO KYUNG EUN (author) / KIM JUN OH (author) / XI YULONG (author)

    Publication date :

    2018-05-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B64C AEROPLANES , Flugzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen




    Drone swarm flight system for performing attack missions

    SONG JAE KEUN | European Patent Office | 2025

    Free access

    DRONE CONTROL SYSTEM AND INTELLIGENT DRONE FLIGHT PLANNING METHOD THEREOF

    CHOI TAE IN / JO SEONG WON | European Patent Office | 2022

    Free access

    Drone control system and intelligent drone flight planning method thereof

    CHOI TAE IN / JO SEONG WON | European Patent Office | 2024

    Free access

    Robot Operating System (ROS) Framework for Swarm Drone Flight Controller

    Mardiyanto, Ronny / Hisak, Muhamad Natual / Mujiono, Totok et al. | IEEE | 2022