| Summary: | 碩士 === 國立成功大學 === 航空太空工程學系 === 102 === Aerial photography technique has been used in widespread fields, no matter for military or for civil purpose. It means a lot especially to Taiwan region striking by many kinds of natural disaster annually. Two of most frequently happened natural disaster are hurricane and earthquake that can cause significant change of earth feature. To get better and quicker understanding about damage after disaster happened, satellite and aerial image is used. But satellite is too expensive to afford, and it is more likely to be affected by cloud. Hence, aerial image is the mainly used to assist rescue efforts. On the other hand, being inspired by movies “Beyond Beauty - Taiwan From Above” which directed by Po-lin Chi, more and more people dedicate themselves in aerial photography. In terms of today's technology, operator is needed to accomplish mission precisely.
An automatic static target tracking system which cost less than a thousand dollars (USD) is built in this study. Using GPS and AHRS data, angles supposed to turn can be calculated, and corresponding PWM signal drives gimbal to accomplish static target tracking. Message form GPS receiver can be transferred to Cartesian by UTM. MENS including IMU and magnetometer is used to implement AHRS. Quaternions are introduced to describe attitude and updated using first order Runge Kutta equation. Mahony filter, on the other hand, is the method chosen to prevent data drifts in attitude. By integrating positional information and attitude data together, desired angle can be obtained. The method is verified in the experiment part.
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