| Summary: | 碩士 === 淡江大學 === 航空太空工程學系碩士班 === 97 === We make the change for proportion guiding law definition and use it in our study, make UAV avoidance when meet the closing obstacle, we get the information that include distance、closing velocity、line-of-sight angle、line-of-sight rate form radar and infrared, use Kalman Filter to analyze the data and estimate the relationship between
UAV and obstacle, we make it avoidance automatically when the obstacle close 500 foot,after UAV far away obstacle 500 foot, final ,the guiding law will correct the direction,
and then arrive the destination.
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