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研究生:林彥宏
研究生(外文):LIN,YAN-HONG
論文名稱:具動態追蹤功能之多旋翼無人機設計
論文名稱(外文):Design of Multi-Rotor UAV with Dynamic Tracking
指導教授:陳作舟陳作舟引用關係
指導教授(外文):CHEN,TSO-CHO
口試委員:黃意勛
口試委員(外文):HUANG,YIH-SHIUN
口試日期:2017-07-12
學位類別:碩士
校院名稱:中華科技大學
系所名稱:飛機系統工程研究所
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:2017
畢業學年度:105
語文別:中文
論文頁數:88
中文關鍵詞:多旋翼機動態追蹤全球定位系統左右定位台
外文關鍵詞:Multi-Rotor UAVDynamic trackingGPSLocalizer
相關次數:
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  • 下載下載:122
  • 收藏至我的研究室書目清單書目收藏:0
在無線電助導航設施中之儀器降落系統(ILS),須定期測量左右定位台(Localizer,LOC)訊號方位來協助飛機滑降對準跑道中心線誤差校正,以期達成飛航安全目的。以往量測方式是透過飛測機方式執行,藉由沿跑道中心線來測試來進行量測校準。但由於飛測機的出勤成本昂貴且易受天候影響;無法隨叫隨到等因素。
因此本文研究運用多旋翼機(Multi-Rotor UAV)來掛載儀器降落系統(ILS)校準訊號的機器做左右定位台(Localizer, LOC)沿著跑道中心線信號量測,雖然多旋翼機(Multi-Rotor UAV)應用非常廣泛,但是我們要做左右定位台 (Localizer, LOC)沿著跑道中心線信號量測項目時,我們需要多旋翼機上GPS所測得位置能夠準確地追隨跑道中心線上航行,這樣所測得LOC信號才會準確,光靠多旋翼機(Multi-Rotor UAV)的全球導航衛星系統(GPS)精準度是不夠的,一般GPS精度在10~30公尺範圍內指座標在範圍內飄移,所以我們必須提高GPS精準度,如果GPS精準度不高,我們透過多旋翼機(Multi-Rotor UAV)來掛載儀器降落系統(ILS)校準訊號的機器所量測到的值就會發生錯誤,就會造成校正人員產生錯誤的判斷,將原先的值調成錯誤,因此為了獲得GPS精準的位置資訊。我們將設計一套動態追蹤系統來獲得準確的GPS位置資訊,並且將LOC所量測到的助導航數據與多旋翼機的GPS位置資料,透過Matlab程式轉換及計算分析,以達到協助助導航設備訊號校準正確性與可行性。

In radio helps in the navigation facility instrument landing system (ILS), must about the regular survey the positioning station (Localizer, LOC) signal position assist the airplane glide landing alignment runway center line error to adjust, achieves by the time flies the navigation security goal.Formerly gauged the way was the penetration flies measured machine the way execution, because of carried on the gauging calibration along the runway middle line test.But by flies together measures machine the going out on duty cost expensive also easily the weather influence; Is unable to be within call and so on the factors.
About therefore this article studies using the multi-rotor machine (Multi-Rotor UAV) hangs carries the instrument landing system (ILS) calibration signal the machine to make the positioning station (Localizer, LOC) along runway middle line signal gauging, although the multi-rotor machine (Multi-Rotor UAV) applies extremely widely about, when we must make the positioning station (Localizer, LOC) along the runway middle line signal gauging project, we need on multi-rotor machine GPS to obtain the potential energy to follow in the runway middle line to navigate accurately, like this obtains the LOC signal only then to be able to be accurate, the light depends on the multi-rotor machine (Multi-Rotor UAV) whole world aeronautical satellite system (GPS) fine not , general GPS precision in 10~30 metersIn the scope refers to the coordinates to drift in the scope, therefore we must enhance GPS fine, if GPS fine is not high, we penetrate the multi-rotor machine (Multi-Rotor UAV) to hang carry the value which the instrument landing system (ILS) calibration signal the machine gauges to be able to have the mistake, can create adjusts the personnel to have the wrong judgment, the original value furnishing will be wrong, therefore in order to obtain the GPS fine accurate position information. We will design a set of dynamic tracking system to obtain the accurate GPS position information, and will gauge LOC helps the navigation data and the multi-rotor machine GPS position material, will penetrate the Matlab formula transformation and the computation analysis, achieved will assist to help the navigation aid signal calibration accuracy and the feasibility.

目次
中文摘要.………………………………………………………………………………i
英文摘要………………………………………………………………………………ii
目次…………………………………………………………………………………...iii
表目錄……...………………………………………………………………………….v
圖目錄………………………………………………………………………………...vi
符號………………………………………………………………………………….viii
第一章 緒論……………..……………………………………………………….........1
第一節 研究動機與目的………………………………..………………………1
第二節 文獻回顧……...……………...…………………………………………6
第三節 章節介紹..................................................................................................8
第二章 左右定位台及多旋翼機動態追蹤原理…………................…………..........9
第一節 左右定位台原理..............................................................................9
第二節 多旋翼機原理........................................................................................12
第三節 GPS 原理...............................................................................................17
第四節 動態追蹤系統原理...............................................................................21
第三章 多旋翼機動態追蹤系統設計.........................................................................22
第一節GPS 模組設計...............................................................22
第二節 軟體設計................................................................................................25
第三節 通訊模組設計.......................................................................................27
第四節 地面與飛行控制系統通訊設計…..............….....................................28
第五節 多旋翼無人機導航設計........................................................................31
第四章 量測數據分析.................................................................................................38
第一節 跑道中心線左右定位台信號量測設計與步驟.........................38
第二節 實驗結果與分析....................................................................................40
第五章 結論與討論....................................................................................................45
參考文獻......................................................................................................................47

附件一 LOC 無線電信號:DDM參數及多旋翼機位置的資訊如經緯度………...50
附件二 Matlabt 程式……………………………………………………………….76
作者簡介......................................................................................................................78

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