近年來，無人飛行載具無論在軍事、民用及商用上皆蓬勃發展，而低價體積小發展成熟的各式航電次系統組件，像是微處理器、微機電感測元件、小型全球定位系統接收機及無線數據機，更讓越來越多的大學等研究機構能跨進無人飛行載具的領域，並以此飛行平台做飛行控制、導航及影像處理等技術的研究發展。成功大學RMRL實驗室經過多年在無人飛行載具系統上的發展，目前已經進入視距外自主飛行的階段，而對一個成熟實用的無人飛行載具系統而言，利用自主飛行的能力完成特定任務亦是重要的一環。因此本研究的目標是在RMRL實驗室既有的UAV系統上建立一個空中光學遙測系統，以達成在自主飛行中不斷監視特定地面目標的任務。本研究主要包含攝影機轉動平台的開發、控制攝影機所需之飛機導航系統的開發以及配合監視任務之地面站開發，其中導航系統是關鍵，因為唯有掌握飛機確切的位置及姿態，才能利用機載電腦持續不斷控制攝影機指向地面站操作員指定之目標座標，並將影像傳回地面站。而導航系統中最大的難題是姿態量測，本研究利用市售之角速度壓電陀螺儀及包含傾斜儀之電子羅盤，以互補濾波的概念完成姿態量測。最後，整體系統已於實際飛行測試中驗證。

　　Recently, Unmanned Aerial Vehicles (UAVs) have drawn more and more attention in various military, civil and commercial applications. More and more universities in particular in aerospace engineering have established their own UAV programs with the help of the developments in small and low-cost avionic components such as miniature-sized computers and MEMS sensors. The RMRL in IAA of NCKU, which has been devoted to the study of UAV system for years, is now undertaking the challenge of autonomously beyond-visual-range flight. To execute a specific mission in the autonomous flight, this thesis focus on the development of a target-lockup optical remote sensing system to be used on the UAV system for surveillance mission. To accomplish such a mission, some subsystems are developed including an active CCD-camera-gimbal subsystem to rotate the camera, a navigation subsystem for the control of the gimbal, and a ground control station to operate in coordination with the airborne system. In particular, the navigation subsystem is the key of this research because the camera can be continuously pointed to a ground target during the flight only if the position and attitude of the UAV are continuously measured. The task in building the navigation subsystem is the attitude measurement, and an attitude and heading reference system (AHRS) containing 3-axes gyroscopes and an electric compass has been developed through the idea of complementary filtering. Finally, the whole system has been proved in flight tests.

中文摘要 I
ABSTRACT II
ACKNOWLEDGEMENTS III
CONTENTS IV
LIST OF TABLES VII
LIST OF FIGURES VIII
LIST OF SYMBOLS X
1. INTRODUCTION 1
1.1. OPTICAL REMOTE SENSING ON UAVS 1
1.2. UAV PROJECT IN RMRL, IAA OF NCKU 4
1.3. MOTIVATION AND OBJECTIVE 5
1.4. LITERATURE SURVEY 6
1.5. THESIS OUTLINE 7
2. SYSTEM OVERVIEW 8
2.1. MISSION REQUIREMENTS 8
2.2. SYSTEM OUTLINE 9
3. SYSTEM ARCHITECTURE 10
3.1. COORDINATE FRAMES AND EULER ANGLES 10
3.2. CCD-CAMERA-GIMBAL SUBSYSTEM 13
3.2.1. Introduction 13
3.2.2. Control Scheme 14
3.3. NAVIGATION SUBSYSTEM 17
3.3.1. Position Measurement 18
3.3.1.1. Introduction 18
3.3.1.2. Position Prediction 18
3.3.2. Attitude Measurement 21
3.3.2.1. Introduction 21
3.3.2.2. Euler Angles Estimation from Gyroscope 24
3.3.2.3. Euler Angles Estimation from the Electric Compass 24
3.3.2.4. Combination of Gyroscopes and Electric Compass 26
3.3.2.5. Inclinometer Correction for Centripetal Acceleration 28
4. HARDWARE SELECTION 31
4.1. VEHICLE AND BASIC AVIONICS 31
4.2. NAVIGATION SUBSYSTEM 33
4.3. CCD-CAMERA-GIMBAL SUBSYSTEM 38
4.4. GROUND CONTROL STATION 41
5. TEST RESULTS AND DISCUSSION 44
5.1. COMBINATION OF GYROSCOPES AND ELECTRIC COMPASS 44
5.2. GROUND TEST 50
5.3. ULTRALIGHT FLIGHT TEST 50
5.4. UAV FLIGHT TEST 53
6. CONCLUSION 58
6.1. CONCLUDING REMARKS 58
6.2. FUTURE WORK 59
REFERENCE 60
VITA 63

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