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研究生:許展維
研究生(外文):Chan-Wei Hsu
論文名稱:自主與遙控性能提升之航電系統整合
論文名稱(外文):Avionics System Integration on Autonomous and Remote Control Enhancement
指導教授:林清一林清一引用關係
指導教授(外文):Chin E. Lin
學位類別:博士
校院名稱:國立成功大學
系所名稱:航空太空工程學系碩博士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2008
畢業學年度:96
語文別:英文
論文頁數:193
中文關鍵詞:衛星定位系統即時控制系統自主性系統慣性導航系統大氣數據系統
外文關鍵詞:GPSRemote Control SystemAutonomous SystemINSADU
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為了達到小型飛機依靠航電系統的自主性飛行,現代的電子資訊技術是一個絕佳的實現方法。衛星定位系統固然可以提供長週期穩定的導航定位,然而衛星定位系統的可用性尚無法達到飛航要求,因此一個全功能的自主性飛行系統可以用來提升衛星定位系統的可用性。在本文中,整合了衛星定位系統、慣性量測系統以及大氣數據系統,以及包含了從基本分析到實現的即時飛行控制系統,成為一個自主性飛行系統。在自主性飛行系統中,利用微處理器設計方法整合了各個次系統,而在飛行控制系統中的核心為ARM微處理器,藉由處理上傳以及下載的飛行資訊,提供載具完整的飛行狀態資訊。文中所設計的自主性飛行系統,從設計製造到實現,並利用載具作完整有效地測試、修正與分析。
To aim on an independent avionics system for small aircrafts, modern delicate electronic devices may be the most feasible candidate to adopt. Since GPS is a good solution for long term navigation, however, the GPS availability can not meet aviation requirement. A full function of flight autonomous system may need to enhance the navigation capability using alternative availability technologies. In this dissertation, an integration of flight autonomous system to include GPS, INS, ADU, as well as a remote flight control system is proposed with fundamental analysis and system implementation. In the flight autonomous system, microprocessor-based design is introduced to include more functions into one small system. In the remote flight control system, ARM CPU is built to manipulate information uplink and downlink for better awareness of airborne conditions. The overall system has been designed and fabricated with some feasible tests to support the proposed system in completeness and effectiveness.
ABSTRACT IN CHINESE i
ABSTRACT xi
CONTENTS xii
LIST OF TABLES xv
LIST OF FIGURE xvi
NOMENCLATURE xxi
ABBREVIATION xxvi

CHAPTER I
INTRODUCTION 1
1.1 Introduction 1
1.2 Literature survey 3
1.2.1 Inertial Navigation System (INS) Overview 4
1.2.2 Avionics System Application Overview 6
1.3 Dissertation Contribution 13
1.4 Dissertation Outline 13
CHAPTER II
NAVIGATION DATA INTEGRATION 16
2.1 Principle of Inertial Navigation 16
2.1.1 Coordinate Transform 18
2.1.2 Acceleration and Angular Rate 20
2.1.3 Computational Algorithm 25
2.2 Error Analysis in INS 27
2.2.1 Error in Accelerometers 27
2.2.2 Error in Gyroscopes 29
2.3 GPS Error 30
2.4 Updating INS with GPS 31
2.5 Conclusion Remark 33
CHAPTER III
DEVELOPMENT OF GPS/INS INTEGRATION 34
3.1 System Requirements and Architecture 35
3.2 System Description 37
3.2.1 System Function 38
3.2.2 System Operation 40
3.2.3 Data Storage 48
3.3 Data Processing and Integration 50
3.3.1 Inertial Data Acquisition and Conversion 50
3.3.2 Direct Cosine Matrix and Attitude 52
3.3.3 Vehicle Translation 56
3.4 Hardware Design and Software Correction 61
3.4.1 Master Unit 61
3.4.2 IMU 63
3.4.3 Circuit Board Integration and Axis Allocation 68
3.4.4 Digital Flight Data Recorder 70
3.5 Conclusion Remark 76
CHAPTER IV
DEVELOPMENT OF FLIGHT AUTONOMOUS SYSTEM 77
4.1 System Concept and Architecture 77
4.2 System Design 79
4.2.1 System Function 80
4.2.2 System Operation 81
4.3 Air Data Correction 88
4.3.1 Temperature Sensor 88
4.3.2 Pitot-Static Sensor 92
4.3.3 Electric Compass 98
4.4 Conclusion Remark 106
CHAPTER V
DEVELOPMENT OF ON-LINE REMOTE CONTROL SYSTEM 107
5.1 Introduction 107
5.2 System Architecture Concept 108
5.3 Client System Design 109
5.3.1 ARM Unit 113
5.3.2 Communication Unit 118
5.3.3 Actuator Unit 121
5.3.4 Flight Data Unit 126
5.4 Server Subsystem Design 126
5.4.1 Control Interface 130
5.4.2 Maneuver Interface 132
5.5 Control Law Design 132
5.5.1 Vehicle Model and Tracking Policy 133
5.5.2 Fuzzy Logical Controller Design 137
5.5.3 Vehicle Simulation on Campus 141
5.6 Conclusion Remark 146
CHAPTER VI
IMPLEMENTATION AND VERIFICATION 147
6.1 Verification Tests in Autonomous System 147
6.1.1 Pitot-Static Sensors Test 148
6.1.2 Software Operation and Correction in Electric Compass 154
6.1.3 GPS/INS Integration Test 165
6.2 On-Line Remote Control System 171
6.2.1 Hand-Over Control Test 171
6.2.2 Verification Tests 174
6.3 Conclusion Remark 180
CHAPTER VII
CONCLUSIONS 178
7.1 Conclusions 178
7.2 Suggestions for Further Work 180
7.2.1 Problems Existing in the System 180
7.2.2 Future Work 181
REFERENCES 185
PUBLICATION LIST 192
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