1. Introduction
Unmanned aerial vehicles (UAV) have been widely used in military [1] and civilian applications [2]. With the guidance and control technology development, UAV investigation is useful in reducing the operation load and effort. These characteristics are further confirmed by urban warfare in the war between Ukraine and Russia. Seoul, the capital of the Republic of Korea, is an important economic and social center accounting for approximately 20 percent of the total population of the Republic of Korea. The tiltrotor-type UAV is suitable for reconnaissance of battalions and companies in urban areas with several buildings and mountainous terrain. In addition, rapid maneuvering, vertical take-off and landing, and extended operational time are possible owing to the fixed wing shape.