四軸無人機之射頻自動跟隨系統設計

本論文提出了一個整合智慧型手機、藍牙模組、微控制器、飛控板以及多個天線的自動跟隨系統，並將其安置在一台四軸無人機上。本系統利用低功耗藍牙協議地址的專一性以及RSSI的偵測技術，試圖解決現行基於影像辨識的自動跟隨系統常常遇到的一些問題。為了使系統精確地執行跟隨功能，本論文探討了兩種平滑化RSSI 曲線的方法，並且提出了一套演算法，把以無人機為中心的區域進行劃分，系統會根據使用者所在的區域進行相對應的移動。自動跟隨系統在古亭河濱公園分別對行走以及騎單車的使用者進行實測。本自動跟隨系統能在這兩種情境下順利地跟隨使用者，證實了本論文所提出的想法的可行性。

關鍵字

藍牙；無人機；自動跟隨系統；天線；多重路徑干擾

並列摘要

This thesis proposes an auto-following system for drone, which is composed of a smart phone, Bluetooth Low Energy modules, a microcontroller, a flight-control board, and multiple antennas. Utilizing the device’s unique address in Bluetooth protocol and the estimation technique of RSSI, the proposed system can solve the problems often plaguing an image recognition-based auto-following system. To assure its ability to follow the user accurately, the system employs two methods to smooth the RSSI curve. Moreover, the thesis proposes an algorithm that can divide the area with the drone at its center into several sections. The system will direct the drone to the move correspondingly according to the section where the user is located. The auto-following system mounted on a drone is tested at Guting riverside park in Taipei under two scenarios, with the user walking and the other with the user riding a bike. The system performed satisfactorily in both scenarios, proving the validity of the methods proposed in this thesis.

並列關鍵字

Bluetooth ； drone ； auto-following system ； antenna ； multipath interference

參考文獻

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[14] M.M. Atia, et al, "A WiFi-aided reduced inertial sensors-based navigation system with fast embedded implementation of particle filtering," in 8th International Symposium onMechatronics and its Applications, 10-12 April 2012.

[16] Zhuang, Yuan, et al. "Smartphone-based indoor localization with bluetooth low energy beacons," Sensors, vol. 16, no. 5, pp. 596, April, 2016.

[29] Steve C. Cripps, RF Power Amplifiers for Wireless Communications(Second Edition), Artech House, May 30, 2006.

國際替代計量

四軸無人機之射頻自動跟隨系統設計

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