臺灣博碩士論文加值系統

　　近年來，無人飛行載具(UAV)已經由遙控飛行發展到自動飛行的階段，以增加其應用的價值，同時擴大其飛行範圍。由於自動飛行不用操縱者在飛機上操控，大大減低任務的風險且降低製造的成本，故世界各軍方機關、民間機構以及研究單位，均致力於開發無人飛行載具之模組化的次系統，以利於系統整合與維護。本論文重點在於開發使用於無人飛行載具之可攜式地面監控站，利用圖形語言LabVIEW作為系統開發的平台軟體，針對無人飛行載具執行視距外的自主飛行(Autonomous flight )任務時，即時顯示飛機的飛行儀表、航機位置、影像及健康狀況等，同時儲存以上原始資料以利於日後的分析與改進。本地面站的特點為:(1)即時顯示與監控，(2)方便攜帶，(3)容易使用。本系統以筆計型電腦為核心作業平台，外接RS_232串列通訊埠，與無線數據機連結為地面站基本接收設備，方便攜帶且拆裝便捷。UAV的資訊經通訊協定後以封包的形式傳送至地面站，地面站接收到封包後即時解碼,並將解碼後的數值經過運算轉換後,應用圖形介面的物件將機上下傳之資訊呈現於監控影幕上，並可依使用者需求切換至圖形顯示或數值顯示。另外,結合GIS地理資訊系統，將電子地圖應用於顯示UAV之及時地理位置，以利於監控飛機最新的動向。藉由本系統發展，期可建立一套合乎成本效益之可攜帶式地面監控站，協助無人飛行載具自主飛行任務之達成，並應用於日後飛行任務之實驗與研究。

　　Unmanned Aerial Vehicles (UAV) have proven their values and possessed their significant usage of applications among the unmanned systems in the real world. They commonly operate in military operations and scientific research, perform powerful intelligence collection capability, and hence highly reduce the human risk and operation cost. Their autonomous flight and powerful sensing capability further facilitate their operations of flights beyond the visual ranges.
　　To achieve the aerial robotic system of the UAV, the very first step is to build a real-time monitor/control system at the operator’s end. Aiming at the Beyond Visual Range (BVR) autonomous flight mission of our UAV system, the graphical language, object-oriented LabVIEW software was used as a platform to develop a low cost and portable ground monitor station in displaying real-time in-flight information on the graphical instruments such as position, attitude, waypoints, trajectory, health condition and video. Meanwhile, combining with the Geographic Information System (GIS) to utilize the digital map indicates the UAV current position in real time to monitor the aircraft in geographical feature. Besides, the collected data can be stored for post processing and analysis as the reference for the following hardware/software reconfiguration.
　　A laptop is used as the workstation in connection with the wireless modem via an RS-232 cable to the major ground equipments, which are all commercial off-the-shelf (COTS) products.
　　Finally, the telemetry data process includes data receiving, checking, decoding, computing and displaying on the screen in both graphical / numerical forms. From the development of this ground monitor system, such advantages as (1) Real-time display/control, (2) cost-effective and portable, and (3) easy modification by request would be expected. This station in the present study will integrate with the UAV system to assist achievements in the UAV autonomous flight mission and provisions for any flight tests.

Chinese Abstract　I
English Abstract　II
Acknowledgement　III
Table of Contents　IV
List of Tables　VII
List of Figures　VIII

Chapter 1. Introduction　1
　　1.1 Unmanned Aerial Vehicle　1
　　1.2 Ground Control Station 　1
　　　　1.2.1 Ground Control Station Overview　1
　　1.3 Motivations　3

Chapter 2 Establishment of a Ground System　4
　　2.1 Mission Objective　4
　　2.2 Mission Requirements　4
　　2.3 System Specifications　5
　　2.4 System Architecture　6
　　2.5 Ground Control Station Function　7

Chapter 3 Ground Control Station Design　8
　　3.1 Design Process　8
　　3.2 Software Options　9
　　　　3.2.1 LabVIEW　9
　　3.3 Telemetry Data Process　10
　　3.4 Telemetry Data Protocol　10
　　3.5 Data Coding and Decoding　11
　　3.6 Data Checksum Error　12

Chapter 4 Ground Control Station Functional Design　13
　　4.1 Digital Map　13
　　4.2 Cockpit-Like Flight Instruments　14
　　4.3 Three-dimensional Trajectory　14
　　4.4 Status Alert　15
　　4.5 Data Length Error Detection　15
　　4.6 Payload Information　16
　　4.7 Waypoint Uplink　16

Chapter 5 Portable Ground Control Station Hardware　17
　　5.1 Equipments Selection　17
　　5.2 Antenna　19
　　5.3 Transceiver　20
　　5.4 Hardware Integration　21

Chapter 6 Results and Discussion　22
　　6.1 System Test Procedure　22
　　6.2 Transmission Test　23
　　6.3 Ground Vehicle Test　24
　　6.4 System Integration Test　25
　　6.5 Flight Test　25

Chapter 7 Conclusion　27
　　7.1 Conclusions　27
　　7.2 Suggestions and Future Work　29

References　30
Vita　67

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