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드론 스테이션 정밀 착륙을 위한 UWB 레이더 통신 기반 고정밀 실시간 위치 수신 감도 향상 연구

홍성호1,2, 이재열2, 신동호2, 함제훈2, 서갑호2, 서진호3,#orcid

A Study on Improving the Sensitivity of High-Precision Real-Time Location Receive based on UWB Radar Communication for Precise Landing of a Drone Station

Sung-Ho Hong1,2, Jae-Youl Lee2, Dong Ho Shin2, Jehun Hahm2, Kap-Ho Seo2, Jin-Ho Suh3,#orcid
Journal of the Korean Society for Precision Engineering 2022;39(5):323-330.
Published online: May 1, 2022

1 부경대학교 기계시스템공학과

2 한국로봇융합연구원 인터랙티브로봇연구본부

3 부경대학교 에너지수송시스템공학부 기계시스템공학전공

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#E-mail: suhgang@pknu.ac.kr, TEL: +82-51-629-6189
• Received: January 20, 2022   • Revised: April 7, 2022   • Accepted: April 11, 2022

Copyright © The Korean Society for Precision Engineering

This is an Open-Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http://creativecommons.org/licenses/by-nc/3.0) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

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  • Drone stations are increasingly being applied to enhance the mission capabilities of drones. The drone’s station landing occurs in a limited space. A relative position communication signal between the drone and the station is required. Strong, precise control over communication signal interference is required. In this paper, we describe a filter processing method for position signal processing. In consideration of the anchor position and installation angle of the UWB module of the drone station, nine performance test cases were proposed. As a result of the performance test, high position accuracy output was confirmed when considering the result of minimizing signal shading and beam pattern direction with excellent reception sensitivity. A performance test was conducted using the developed drone station, and the landing performance was confirmed with a precision of within 20 cm.
  • KEYWORDS: Drone, Landing, Receiving sensitivity, Positioning precision
  • KEYWORDS: 드론, 착륙, 수신 감도, 위치정밀도
최근 드론 산업은 영상 보안 감시 분야의 활용 확대로 범죄취약구역, 재해·재난구역 및 산림 관리를 위한 활용 범위가 확장되고 있는 추세이다. 드론의 효율적인 운용을 위하여 충전 스테이션의 충전 기능을 적용한 드론 임무 활성 시간 등의 효율을 향상하기 위한 다양한 연구개발이 진행되고 있다[1].
충전 및 격납을 목적으로 드론 스테이션의 협소한 착륙 패드에 정밀 착륙하기 위한 위치 제어가 요구되며 일반적으로 위성 항법 시스템을 통한 상대 위치 추종 제어를 수행하고 있지만 착륙 과정에서 GPS 위치 오차로 인한 충돌 및 추락 등의 사고가 발생할 수 있다. 또한, 드론이 임무수행 중 다양한 운영 오류 및 환경 제한사항에 따라 긴급 상황 발생 시 RTH (Return to Home) 지점으로 복귀하여 착륙 절차를 진행할 필요가 있으며, GPS 신호가 불안정하거나 제어 및 통신 음영 지역에서 드론의 자동 회귀를 위한 RTH 모드에서 위치 오차로 인하여 정밀 이착륙이 원활하게 진행되지 못할 수 있다. 특히 외란에 의한 상대위치 오류 등의 문제로 정밀한 착륙 제어를 수행하기 제한적인 상황이 발생할 수 있으며 이를 극복하기 위한 초광대역 통신이 가능하고 낮은 전력 소모와 빠른 데이터 전송률이 장점인 UWB (Ultra-Wideband Communication)를 활용하여 복잡지형 및 저고도 지역에서의 위치 정확도 측정을 향상시키는 제어 및 신호 처리 방법이 활발히 연구되고 있다[2,3].
UWB를 기반으로 한 정밀 착륙 프로세스는 착륙 절차에서 GPS 신호를 기반으로 스테이션으로 근접 비행 절차를 수행하고 스테이션에서 발진된 UWB 신호를 인식하여 정밀 착륙 유도를 위한 충천 패드와 드론과 상대 좌표를 전송하여 자율 비행 기능을 통해 착륙 유도 위치로 이동하는 절차를 수행한다.
UWB는 드론과 드론 상대위치 측정과 지상에서 이동하는 물체에 대한 좌표를 확인하기 위한 용도로 많이 사용되고 있으며, 일반적 상용 드론의 경우 지상에서 이착륙을 위한 위치정밀도는 ±1 m 이내의 위치정밀도를 갖는다.
본 논문에서는 지상에서 10 m 상공에 위치한 승강형 드론 스테이션의 격납함에 설치된 충전 패드에 ±40 cm 이내의 정밀도 착륙을 위하여 환경 외란 강인 제어를 목적으로 UWB 기반 신호 디지털 필터를 제안하고 신호 처리 검증을 위한 성능 시험에 대해 기술하였다.
2.1 UWB 모듈의 방향성
본 연구에서는 IEEE 802.15.4-2011 표준을 기반으로 개발된 상용 DWM1001 UWB 모듈을 고려하였고 안테나 파라미터 특성은 Table 1과 같다. UWB 회로는 일반적인 무지향성 모노폴 안테나(Monopole Antenna)를 적용하고 있으며 특성은 Dipole Antenna와 유사한 구조로 설계되어 있으며, Fig. 1과 같이 각 영역에서 구면 좌표 θ, Φ에 따른 안테나의 이득(Gain)을 확인할 수 있다. 통신 효율을 고려하여 UWB 회로의 배치에 따라 Antenna Gain에 따른 수신 감도의 차이가 발생하기에 Fig. 1의 이득(Gain, dBi) 특성에 따른 방향성을 분석하여 효율적 배치가 요구된다.
Table 1

DWM1001 parameter

Table 1
Parameter Description
Ranging accuracy [cm] < 10
Channel [GHz] 5-Ch, 6.5
Data rate [Mbps] 6.81
PRF [MHz] 64
Preamble length 128
Preamble code 9
Antenna PCB trace monopole
Fig. 1

DWM1001 antenna gain (dBi) vs angle

KSPE_2022_v39n5_323_f001.jpg
DWM1001 UWB 모듈에 대한 수신 이득에 따른 방향성을 정의하기 위하여 Fig. 1에 회로 원점 기준 방사 평면 XZ, XY, YZ 영역에서의 안테나 빔 패턴(Antenna Beam Pattern)의 특징을 나타내었으며, 각 평면 XZ (Fig. 1(a)), X (Fig. 1(b)), YZ (Fig. 1(c))에 표현된 음영 영역을 제외한 공간에서는 이득이 감소하는 것을 나타내었다. 이러한 통신 이득 감소 공간은 DWM1001 UWB 모듈에 적용된 안테나의 회로 설계의 패턴과 연관이 있으며, XZ Plane (Fig. 1(a)) 빔 패턴의 영향으로 안테나 정면 기준으로 약 ±45o(45-315o)에서 수신율이 높을 것을 선행 문헌을 통해 확인할 수 있다[4,5].
2.2 UWB 모듈의 드론 스테이션에 대한 위치 선정
DWM1001 UWB 모듈을 드론 스테이션에 효율적인 배치를 위하여 UWB 모듈의 방향성 분석 데이터를 바탕으로 Figs. 2와 3과 같이 측위 기반 UWB 모듈의 앵커(Anchor) 구성을 세 가지 경우로 고려하여 배치 분석을 수행하였다. UWB 모듈의 방향성 분석에서 XZ 평면을 상면으로 구성하여 정면 기준 ±45o에서 가장 좋은 수신 이득을 고려할 수 있으므로 8개의 UWB 모듈을 스테이션에 배치하여 높은 수신 효율을 보여줄 수 있을 것으로 판단할 수 있다. 하지만 적용되는 드론 스테이션의 형상, 동작 영역, 비행 경로 등을 고려한 결과 드론 스테이션 상부의 격납 커버를 기준으로 이/착륙 비행 경로가 정의되어 스테이션 상면과 측면에 배치하여야 함으로 6개의 앵커 포인트를 정의하였고, 최적의 수신 감도를 위한 UWB 모듈의 위치와 방향성을 정의하고 성능 시험을 수행하였다.
드론 스테이션에 대한 UWB 모듈의 앵커 배치는 Figs. 2(a)부터 2(c)와 같이 세 가지 경우를 고려하였으며, UWB 모듈의 위치 기준으로 스테이션 폴과 스테이션 격납 커버의 배치에 대해 UWB 모듈의 XY 평면 기준 전 영역에 대한 음영 지역 최소화가 가능한 배치 기준을 고려하였다. Fig. 2(a)는 드론 비행 경로 중 스테이션 폴을 기준으로 서쪽을 제외한 동남북 방향으로 진입하는 기준을 고려하였고, 앵커 1, 2번의 방향 배치를 드론 비행 경로를 고려하여 서쪽 방향으로의 방향성을 배제한 배치를 하였다.
Fig. 2

Case of the UWB anchor points

KSPE_2022_v39n5_323_f002.jpg
Figs. 2(b)는 동쪽으로 드론이 접근하는 비행 경로의 특성을 고려하여, 드론 스테이션 진입 시 UWB 모듈의 데이터를 안정적으로 수신할 수 있도록 배치하였으며, 2(c)는 전 방향을 고려한 2(b)의 조건에서 음영 지역의 발생을 최소화 되도록 UWB 모듈 앵커의 평각 각도를 조정하여 신호 사각 영역을 최소화하도록 배치하였다.
Fig. 3은 설치되는 UWB 모듈을 스테이션 상부 커버에 설치되는 기준 각도를 고려한 경우를 도시하였으며 모듈 평면에 대한 수직 방향을 기준으로 평면상에서 수직면 기준 0, 45, 90o의 설치 각도를 변화하여 수신 감도를 비교하기 위한 설치 구성을 제시하였다.
Fig. 3

Installation angle of UWB anchor modules

KSPE_2022_v39n5_323_f003.jpg
2.3 수신 감도 분석
드론이 스테이션에 착륙을 위해 설정된 UWB 모듈과 통신에서 수신되는 데이터는 외란 신호가 포함될 수 있으며 앵커의 배치 방향과 태그(Tag)의 수신되는 방향에 따라 감도가 상이하게 수신될 수 있다. 효과적인 신호 처리와 안정적인 데이터 수신을 위하여 Figs. 2와 3에서 제시한 앵커의 배치와 모듈의 설치 각도에 따라 수신 성능의 차이가 발생할 수 있으며, 이는 수신 위치에서의 측정 감도가 떨어져 최종적으로 드론의 위치 정보에 외란이 발생할 수 있다. 신호 수신 감도 시험을 통해 특정 노이즈 제거 및 정규 신호 복원과 이를 통한 신호 처리 성능 확보 위한 드론 수신 위치(X, Y, Z) 데이터 수신 감도 및 오차 측정 시험을 수행하여 측정 데이터를 비교하였다.
시험 조건은 드론 스테이션을 지상에 배치하고 설치 고도에서 3 m 기준으로 드론 이/착륙 랜딩 영역(스테이션 착륙 패드 중심) 기준 최대 10 m 사각 궤적으로 비행하면서 데이터 수신과 음영지역에 데이터를 측정하였다. 시험에 적용된 드론은 DJI사의 Mavic Air2를 사용하였으며, UWB 태그는 드론 하단에 장착하여 평면 기준 수직 방향을 지상으로 향하도록 배치하였다. Fig. 4와 같이 이륙 위치에서 비행 궤적을 따라 착륙 위치로 순환 비행 되도록 수동 조작으로 비행을 수행하였다.
Fig. 4

Flight route of test drone

KSPE_2022_v39n5_323_f004.jpg
신호 측정 결과 Table 2와 같이 UWB 모듈의 앵커 배치와 설치 각도에 대한 노이즈 필터가 고려되지 않은 데이터 수신 결과에 대한 PSR (Packet Success Rate)을 정리하였다. 측정 결과 Anchor Point #1, Antenna Angle 45o 배치 조건에서 90%의 PSR 성능이 확인되었고 Anchor Points #2와 #3, Antenna Angle 45o 조건에서 94%의 PSR 성능이 확인되었다.
Table 2

Anchor point & angle PSR

Table 2
Position Antenna angle [o] Packet success rate [%]
Anchor point #1 0 82
45 90
90 88
Anchor point #2 0 90
45 94
90 85
Anchor point #3 0 91
45 94
90 70
3.1 디지털 필터 선정
UWB 모듈의 드론 스테이션의 특정 위치와 설치 각도에 대한 신호 측정 결과 Fig. 5와 같이 드론이 특정 위치에서 정지 비행 중에 Anchor Point #2, Anchor Angle 0o의 경우와 Anchor Point #3, Anchor Angle 45o의 경우 노이즈의 출력 이력을 시간의 따라 X 방향과 Y 방향에 대해 나타내었다. Anchor Point #2, Anchor Angle 0o의 경우 순간적인 Pick Noise가 발생하며 최대 1 m 이상의 위치 오차가 발생하는 것을 확인할 수 있다. 이러한 특정 노이즈 신호를 줄이기 위하여 연속적인 데이터 성분 중 노이즈 성분을 최소화하는 디지털 필터 3종에 대한 적용 시험을 통하여 최적인 디지털 필터를 적용하였다.
(1)
yi=1M∑j=0M-1xi+j
Fig. 5

Raw-data of drone X-Y position

KSPE_2022_v39n5_323_f005.jpg
식(1)은 이동 평균 필터로 데이터 변화량에 대한 빠른 연산이 장점이지만, 필터 차수(M)에 따라 수신 데이터에 대한 평탄화에 많은 영향을 받는다. 높은 비행 속도를 가지는 드론에 적용과 연산량 최소화를 위해 3차 차수를 적용하여 실험에 적용하였다.
(2)
yi=∑i=1nwi×xi∑i=1nwi
식(2)는 가중 이동 평균 필터로 수신되는 위치 정보를 극단적인 값에 영향을 적게 받게 설계할 수 있으며, 가중치(W)는 드론과 거리 정보를 기준으로 가중치를 선정하였으며, 10 M의 거리를 기준으로 가중치를 정의하였다.
(3)
yks=∑i=-nnAiyi+i∑i=-nnAi
식(3) Savitzky-Golay (S-G) 필터로 이동 평균 필터와 같이 Pick 데이터에 취약한 부분이 있으나, S-G 필터는 중요 정보의 손실 및 또는 왜곡이 상대적으로 제한적이다. S-G 필터는 다항회귀 모델을 이용하여 매 Time Step마다 적절하게 계산된 Impulse Response (A)를 이용하면 수신된 신호의 짧은 구간에 빠르게 수신 데이터를 정렬할 수 있다.
드론은 드론 스테이션 인접 부근에서 20 km/h로 저속으로 접근을 시도하며, 특히 착륙 절차 중 호버링 과정에서 현재 위치 정보가 중요하므로 위치 정보 테이터가 노이즈로 인한 순간적인 변화에 노이즈 정보를 제거 및 평탄화가 필요하다.
Fig. 6에서는 드론 스테이션에 접근 과정에서 순간적인 노이즈 발생에 따라 데이터 평탄화 정보를 확인할 수 있으며, Raw-Data의 순간적인 변화에 따라 이동 평균 필터, 가중 이동 평균 필터, S-G 필터의 성능을 확인할 수 있다. 일반적인 센서 신호를 이용하여 제어에 활용하기 위해서는 이동 평균 필터 및 가중 이동 평균 필터를 이용하여 손실 부분이 포함된 정보를 바탕으로 활용할 수 있으나 이동 중인 드론의 경우 왜곡 정보가 위치 정보에 직접적인 영향 미치므로 S-G 필터에서 확인할 수 있듯이 순간적인 위치 변화에 둔감한 부분을 활용하여 현재 드론 위치 정보를 비교적 정확하게 확인할 수 있다.
Fig. 6

Output of drone position measurement data with digital filter applied

KSPE_2022_v39n5_323_f006.jpg
3.2 UWB 배치에 따른 수신 감도 분석
UWB 모듈의 앵커 배치와 설치 각도를 고려하고 데이터 수신 성능 확인과 노이즈 처리를 위한 S-G 필터를 적용하여 스테이션 주변 비행 조건에서의 위치 수신 감도를 분석하였다. Figs. 7부터 9는 Anchor Points #1부터 #3과 Anchor Angle 0, 45, 90o를 기반으로 측정된 데이터를 나타내었다.
Anchor Point #1의 시험 결과는 Fig. 7과 같이 측정되었으며 데이터 수신율이 평균 86%로 수신되었으며 드론에 대한 좌표 신호에 노이즈 신호가 포함되어 있어 실제 측정 좌표에 대한 측정 오차가 크게 발생되었다. Anchor Angle의 변화를 두어 시험한 결과 45o에서는 수신율이 90% 정도 측정이 되었으나, 부정확한 좌표 정보가 측정되었으며, 이는 노이즈 신호가 포함되어 실제 비행 경로를 예측하기 어려운 경로 신호가 측정된 것을 확인할 수 있다. 이는 최소 3개의 앵커 정보를 바탕으로 삼각 측정법에 의한 좌표 계산에 의한 오류로 판단되며, 전반적으로 Anchor Point #1의 배치 방법에 대해 음역 지역이 다소 포함이 되어 수신된 데이터의 신뢰도가 낮은 것으로 판단되었다.
Fig. 7

Anchor point #1 of raw-data and digital filter

KSPE_2022_v39n5_323_f007.jpg
Anchor Point #2의 시험 결과는 Fig. 8과 같이 측정되었으며 전체적인 수신율 평균은 89%로 높이 측정이 되었다. Anchor Angle 45o의 경우에 PSN은 94%의 수신 감도가 측정되었고, 수신 데이터에 비행 좌표를 기준으로 다량의 노이즈 신호가 추가되어 있는 것을 확인할 수 있으며, 이는 Fig. 2(b)에서 설치된 UWB 앵커 사이의 음영지역에 기인한 오차로 판단되며 드론과 스테이션의 거리가 멀어질수록 음영 거리가 증가하여 수신 데이터의 신뢰도가 저하될 것을 예측하였다.
Fig. 8

Anchor point #2 of raw-data and digital filter

KSPE_2022_v39n5_323_f008.jpg
Anchor Point #3의 시험 결과는 Fig. 9와 같이 측정되었으며 데이터 수신율은 평균 85%로 측정이 되었다. 측정 결과 비행 경로와 유사한 수신 데이터를 확인할 수 있지만 Antenna Angle이 90o인 경우 수신 좌표에 대한 오차가 크게 측정되는 것을 확인하였다.
Fig. 9

Anchor point #3 of raw-data and digital filter

KSPE_2022_v39n5_323_f009.jpg
드론 스테이션에서 Antenna Angle이 수직 방향으로 배치되어 드론 스테이션과 거리가 멀어지는 경우 수신 성능이 저하되는 우려가 있으나 착륙 과정에서는 앵커 신호의의 수신 감도 높게 유도할 수 있어 데이터의 신뢰성이 높을 것으로 판단되었다.
Anchor Point #3의 시험 결과 중 Antenna Angle이 0o, Antenna Angle이 45o 시험 결과 비행 경로와 가장 유사한 위치 신호가 수신되었으며, Antenna Angle 0o의 경우 X = -6, Y = -2 m 좌표와 X = 6, Y = -4 m 좌표 구간에서 데이터 미수신 구간이 존재하는 것을 확인하였다. 전 구간 데이터이 수신율이 양호한 배치 방법은 Anchor Point #3에서 Antenna Angle 45o 각도에서 측정된 데이터가 신뢰가 높은 것으로 확인되었다.
측정된 신호의 신뢰성 분석 결과 Table 3과 같이 정리하였으며, 비행 경로상의 좌표와 측정된 신호 데이터를 기준으로 대상 위치와 출력 신호를 비교한 오차 범위 ±20 cm를 기준으로 신뢰성을 측정하였으며, Anchor Point 3#의 배치 방법과 Antenna Angle 45o에서 신뢰성이 높은 수치로 측정된 것을 확인하였다.
Table 3

Data reliability of anchor points with angles

Table 3
Position Antenna angle [o] Data reliability [%]
Anchor point #1 0 49
45 28
90 38
Anchor point #2 0 56
45 34
90 51
Anchor point #3 0 78
45 84
90 15
4.1 시험 환경 구성
UWB 시스템은 Fig. 10과 같이 DWM1001 UWB 모듈을 사용하여 제어 시스템과 RS-232 통신을 적용하여 데이터를 획득하였으며, UWB 모듈은 6개의 앵커와 드론의 단일 태그 그리고 스테이션에 단일 Listener로 구성 배치되었다. 드론 스테이션을 제작하여 성능 시험을 수행하였으며 드론은 스테이션 내부의 격납고에 탑재되어 지상에서 10 m 지점에서 격납고를 개방하고 드론을 지정된 비행 경로로 비행 후 스테이션에 장착된 Listener를 통한 수신된 데이터 좌표를 확인하여 드론이 스테이션과 4 m 이상 거리에서는 격납고를 닫도록 하였으며, 스테이션과 6 m 이내 드론이 착륙 절차 진행 시 격납고를 개방하여 안전하게 드론이 착륙할 수 있도록 성능 절차 시험을 수행하였다.
Fig. 10

UWB module applied drone station and drone landing performance test

KSPE_2022_v39n5_323_f010.jpg
스테이션에서 드론 이륙 후 지정된 경로를 이동하는 과정에서 태그 정보가 수신되지 않는 지점에서 드론 격납고는 자동으로 폐쇄되도록 하였으며, 착륙 과정에서는 스테이션에 접근 시 태그 정보를 수신하여 격납고를 개방하여 안전하게 착륙할 수 있도록 검증을 수행하였다. 드론이 착륙장에 성공적인 착륙 검증을 위해 Fig. 11과 같이 태그 후 착륙 전반에 대한 좌표 이력을 나타내었으며 착륙 과정 데이터를 확대한 좌표 정보에서 위치 정보를 최대 ±20 cm 범위 내에서 정밀하게 유도할 수 있는 것을 확인하였다.
Fig. 11

drone landing guidance accuracy

KSPE_2022_v39n5_323_f011.jpg
제안된 드론 스테이션의 정밀 착륙 유도를 위한 UWB 모듈의 신호 감도를 확보하기 위하여 설치 위치 및 각도에 대해 고려되는 경우를 제안하고 성능 시험을 통해 신호를 분석하여 효과적인 운영 방안을 제안하였다. 데이터 수신 과정에서 수신 감도를 높이는 방법과 음역 지역 최소화를 위한 다양한 앵커 UWB 모듈을 배치하는 방법을 제안하였고, 설치 각도에 따라 비행 경로상 신호를 측정하여 시험 결과의 신뢰성을 확인하였다. 최종 설치된 UWB 모듈은 Fig. 12와 같이 제안되며 원거리 데이터 수신에는 신뢰성이 높은 Antenna Angle 0o 배치 6개를 적용하고 수신 감도 상승과 데이터 신뢰도를 높이기 위하여 Antenna Angle 45o 기준으로 4개를 배치하는 것을 고려할 수 있다.
Fig. 12

UWB module optimizer method

KSPE_2022_v39n5_323_f012.jpg
본 논문은 행정안전부 재난안전산업육성지원 사업의 지원을 받아 수행된 연구임(No. 20010079).
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Sung-Ho Hong
KSPE_2022_v39n5_323_bf001.jpg
Senior Researcher of Integrated Robotics Systems Research Center in Korea Institute of Robotics & Technology Convergence. His research interest is embedded control system, and multi-robot system.
Jae-Youl Lee
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Center Director of Integrated Robotics System Research Center in Korea Institute of Robotics & Technology Convergence. His research interest is pipe robotics, professional service robot and system integration.
Dong Ho Shin
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Researcher of Integrated Robotics Systems Research Center in Korea Institute of Robotics & Technology Convergence. His research interest is pipe robotics, embedded control system and vision system.
Jehun Hahm
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Senior Research of Integrated Robotics System Research Center in Korea Institute of Robotics & Technology Convergence. His research interest is intelligent control, and autonomous driving robot.
Kap-Ho Seo
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Principal Researcher and Director with the Korea Institute of Robots & Convergence. His research interest is system control, disaster robotics, and medical robotics.
Jin-Ho Suh
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Professor in the Major of Mechanical System Engineering, Division of Energy Transport Systems Engineering, College of Engineering, Pukyong National University. His research interest is disaster response robot, underwater robots, and system control & integration in field robotics.

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A Study on Improving the Sensitivity of High-Precision Real-Time Location Receive based on UWB Radar Communication for Precise Landing of a Drone Station
J. Korean Soc. Precis. Eng.. 2022;39(5):323-330.   Published online May 1, 2022
DOI: https://doi.org/10.7736/JKSPE.022.014
Download Citation

Download a citation file in RIS format that can be imported by all major citation management software, including EndNote, ProCite, RefWorks, and Reference Manager.
Format:
Include:
A Study on Improving the Sensitivity of High-Precision Real-Time Location Receive based on UWB Radar Communication for Precise Landing of a Drone Station
J. Korean Soc. Precis. Eng.. 2022;39(5):323-330.   Published online May 1, 2022
DOI: https://doi.org/10.7736/JKSPE.022.014
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A Study on Improving the Sensitivity of High-Precision Real-Time Location Receive based on UWB Radar Communication for Precise Landing of a Drone Station
Image Image Image Image Image Image Image Image Image Image Image Image
Fig. 1 DWM1001 antenna gain (dBi) vs angle
Fig. 2 Case of the UWB anchor points
Fig. 3 Installation angle of UWB anchor modules
Fig. 4 Flight route of test drone
Fig. 5 Raw-data of drone X-Y position
Fig. 6 Output of drone position measurement data with digital filter applied
Fig. 7 Anchor point #1 of raw-data and digital filter
Fig. 8 Anchor point #2 of raw-data and digital filter
Fig. 9 Anchor point #3 of raw-data and digital filter
Fig. 10 UWB module applied drone station and drone landing performance test
Fig. 11 drone landing guidance accuracy
Fig. 12 UWB module optimizer method

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A Study on Improving the Sensitivity of High-Precision Real-Time Location Receive based on UWB Radar Communication for Precise Landing of a Drone Station
Parameter Description
Ranging accuracy [cm] < 10
Channel [GHz] 5-Ch, 6.5
Data rate [Mbps] 6.81
PRF [MHz] 64
Preamble length 128
Preamble code 9
Antenna PCB trace monopole
Position Antenna angle [o] Packet success rate [%]
Anchor point #1 0 82
45 90
90 88
Anchor point #2 0 90
45 94
90 85
Anchor point #3 0 91
45 94
90 70
Position Antenna angle [o] Data reliability [%]
Anchor point #1 0 49
45 28
90 38
Anchor point #2 0 56
45 34
90 51
Anchor point #3 0 78
45 84
90 15
Table 1 DWM1001 parameter
Table 2 Anchor point & angle PSR
Table 3 Data reliability of anchor points with angles

Table 1

Table 2

Table 3

JKSPE : Journal of the Korean Society for Precision Engineering

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