| Summary: | 碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 95 === This paper will focus on the design of navigation and guidance system of an UAV which is based on a Raptor 90 RC helicopter for auto hovering and target tracking mission. Considering the nonlinear model of a RC helicopter, its navigation and guidance system will be higher bandwidth than that of a fix-wing airplane to meet the requirements.
Global Positioning System (GPS) is a position fixing system, basically provide user navigation solutions; a GPS receiver can provide vehicle position, velocity and time. And a strapdown inertial measurement unit (IMU) can provide acceleration and angular rate, these measurements with navigation equations can provide user position and velocity which is called inertial navigation system (INS) and it’s a dead reckoning system. Typically, each system has its disadvantages ,and by integrating GPS and IMU we can get the advantages from both systems to gain the improvement in navigation and guidance performance.
The contribution of this research is the design of a navigation and guidance system for unmanned aerial helicopter (UAH) which uses a loosely-coupled architecture to integrate a Micro-Electro-Micro-Systems (MEMS) IMU and GPS with an Extended Kalman Filter (EKF). Under this architecture, the navigation and guidance system can provide better performance than GPS or IMU works alone. It can be used for other kinds of unmanned vehicles like ground vehicle or airplane.
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