The System Design and Flight Test of A GPS-Guided UAV

• Main Authors: Cho-Hsin Chen, 陳卓歆
• Other Authors: Shih-Hsiung Chen
• Format: Others
• Language: zh-TW
• Published: 2001
• Online Access: http://ndltd.ncl.edu.tw/handle/66405870680766008307

碩士 === 國立成功大學 === 航空太空工程學系 === 89 === The unmanned aerial vehicle（UAV）has proven its importance and wide application in many aspects. Although there have been many military and civilian UAV in service, their flight systems are mostly too complicated. The purpose of this study is to develop an UAV system which employs Global Positioning System（GPS）signal to achieve the goal of autonomous fight. The flight control system was designed, developed and installed in an UAV. It controls altitude and direction using the position and velocity information provide by GPS. The autonomous flight has finally proven successful after many flight tests. The thesis describes the theory of automatic flight, system infrastructure, and results from computer simulation, ground and flight tests. 1-1 前言 1 1-2 無人飛機的發展與文獻回顧 2 1-3 GPS，全球衛星定位系統 5 1-4 理論基礎 6 1-5 研究目標 7 第二章 系統架構 2-1 載具簡介 8 2-2 轉動慣量估算 9 2-3 無人飛機的控制系統 11 2-3-1 GPS接收機 11 2-3-2 飛行控制電腦 12 2-3-3 伺服機控制器與切換開關盒 14 2-3-4 無線電遙控接收機 15 2-3-5 角速率陀螺儀 16 2-3-6 伺服機 18 2-3-7 電源 19 2-4 座標轉換 20 第三章 自動導航之理論與模擬 3-1 飛行力學模組之建立 22 3-2 縱向自動駕駛系統之設計 26 3-3 橫向自動駕駛系統之設計 30 3-4 飛行模擬 34 3-5 如何判定是否到達導航點 36 第四章 飛行實驗 4-1 地面測試與實驗 40 4-2 飛行測試 42 4-3 自動導航飛行實驗 44 4-4 實驗檢討 47 第五章 結論 5-1 總結 52 5-2 未來展望 52 參考文獻 54 附錄A 57 附錄B 59