The Development of a Target-Lockup Optical Remote Sensing System for Unmanned Aerial Vehicle

• Main Authors: Tsung-Liang Liu, 劉宗亮
• Other Authors: Fei-Bin Hsiao
• Format: Others
• Language: en_US
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/67716286436799948433

碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 92 === 　　Recently, Unmanned Aerial Vehicles (UAVs) have drawn more and more attention in various military, civil and commercial applications. More and more universities in particular in aerospace engineering have established their own UAV programs with the help of the developments in small and low-cost avionic components such as miniature-sized computers and MEMS sensors. The RMRL in IAA of NCKU, which has been devoted to the study of UAV system for years, is now undertaking the challenge of autonomously beyond-visual-range flight. To execute a specific mission in the autonomous flight, this thesis focus on the development of a target-lockup optical remote sensing system to be used on the UAV system for surveillance mission. To accomplish such a mission, some subsystems are developed including an active CCD-camera-gimbal subsystem to rotate the camera, a navigation subsystem for the control of the gimbal, and a ground control station to operate in coordination with the airborne system. In particular, the navigation subsystem is the key of this research because the camera can be continuously pointed to a ground target during the flight only if the position and attitude of the UAV are continuously measured. The task in building the navigation subsystem is the attitude measurement, and an attitude and heading reference system (AHRS) containing 3-axes gyroscopes and an electric compass has been developed through the idea of complementary filtering. Finally, the whole system has been proved in flight tests.