無人飛行載具導航酬載系統開發研究

The Development of Navigation Payload System for Unmanned Aerial Vehicle

江俊文(Jun-Wen Chiang) ； 林永仁(Yun-Ren Lin) ； 蕭飛賓(Fei-Bin Hsiao)

《中國航空太空學會學刊》 33卷3期 (2001/09) Pp. 187-192

https://doi.org/10.6124/TAASRC.200109_33(3).06

摘要

近幾年來國內外軍方、民間機構以及學術單位均積極發展無人飛機的技術，期望利用無人飛機達成各類特定任務。但受限於遙控距離有限，自動駕駛技術尚未發展成熟的階段，至今仍無較爲完整的線上操作系統。本文目標在於發展一套高精確度、即時的導航系統，以結合GPS/RDS/IMU導航資訊及影像儲存，再透過無線電資料的傳輸，在地面能即時監控飛機位置及其飛行速度。利用RDS爲廣波副載波系統提供GPS即時作差分修正，並輔以IMU慣性系統，完成印證所提供之即時導航資訊約可達到三公尺內的水平誤差。

關鍵字

無人載具 ； 導航酬載 ； 全球定位系統

並列摘要

Many research institutes and universities have contributed their efforts on developing the multi-purposed unmanned aerial vehicles (UAV) for use either in military or civil applications in past few decades. This is simply because UAV can carry out such missions that may be dangerous, long-endurance, or even reducing the cost and manpower. This paper then emphasizes on the development of a navigation payload system employing the differential Global Positioning System (DGPS) incorporated with an Inertial Measurement Unit (IMU) onboard a home-made UAV. The Radio Data System (RDS) is used as well for conducting the real-time differential correction of the GPS through radio broadcasting in an on-board computer. Therefore, the navigation payload system in combining GPS/RDS/IMU with a digital CCD camera system can provide the UAV with full capability for conducting the data/image targeting acquisition with high accurate positioning and navigation information. The position accuracy with the RDS is augmented to be less than 3 m in the kinematic horizontal flight condition.

並列關鍵字

Unmanned Aerial Vehicle ； Navigation Payload ； Global Positioning System