全球衛星定位系統(Global Positioning System, GPS)是由美國發
展, 於七十年代開逐漸完成的全天候全球定位系統, GPS利用分佈於地球
軌道上之衛星之訊號測定位置, 具有普及性高, 價廉和高精度之特性,
適合作為無人飛行載具(Unmanned Aerial Vehicle, UAV)之導航工具.

本研究探討使用GPS信號於無人飛行載具之自動飛行系統, 結合空
氣動力學, 飛行力學及自動控制等領域之相關理論, 首先建立無人飛行
載具之飛行力學及空氣動力學模組, 並使用現有飛機的資料作測試驗證
, 經測試後得知其正確性可接受, 再針對一假想無人飛行載具設計出以
GPS為主要導航工具之自動飛行系統, 並以電腦模擬的方式測試, 此外也
測試在GPS誤差影響下假想無人飛行載具自動飛行系統之運作情形, 由測
試結果得知GPS作為無人飛行載具自動飛行導航工具之可行性.

The Global Positioning System (GPS) is an all-time worldwide
positioning system developed by the United States of America
starting from 1970s. GPS provides signal from satellites around the
earth to determine a position. GPS has the property of high
popularity, low cost and high accuracy, and is suitable for use in
Unmanned Aerial Vehicle (UAV) navigation.

The study involves the use of GPS signal for UAV automatic
flight, combining the theories of aerodynamics, flight dynamics
and automatic control. The first part was to construct a flight
dynamic and aerodynamic model for UAV flight simulation. The
simulation was performed on an existing small aircraft and was
compared with available data. The accuracy of the model and
mathematical tools are found to be acceptable. The second part
was to develop an automatic flight system for a virtual UAV and
test it by computer simulation. The automatic flight system was
tested under assumed GPS error. From the simulated results, it
was found that the GPS signal can be used for UAV autopilot
purpose when an automatic flight system is properly developed.

第一章 研究動機及文獻回顧
1.1 研究動機與目的
1.2 近年無人飛行載具發展介紹
1.3 文獻回顧
1.4 內容概述
第二章 飛機的飛行力學
2.1 飛機飛行力學數學模式
2.2 飛機之空氣動力學數學模式
2.3 解釋飛行力學之數學方法
第三章 自動飛行導航系統之設計
3.1 假想UAV之設定
3.2 自動飛行導航系統之設定
3.3 自動飛行導航系統之設計
第四章 結果與討論
4.1 飛行力學模組及數學工具之驗証
4.2 假想UAV自動飛行導航系統之飛行模擬
第五章 結論

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