以姿態感測器操控無人飛行載具實現第一人稱視角飛行

Implementing FPV Glasses with IMU Controlled UAV to Achieve First Person Visual Experience

張庭瑋(Ting-Wei Chang)

指導教授 ： 周耀新

國立暨南國際大學/科技學院/資訊工程學系/碩士(2016年)

摘要

現今許多人遊玩遙控設備來當作休閒娛樂，如遙控汽車、遙控船、遙控直升機等，而這些設備大多都是使用2.4G無線電頻率傳輸系統。近幾年被廣泛討論的多旋翼機，又以四旋翼無人飛行器是現今無人載具研究領域中的一個熱點，人們不僅可以利用四旋翼無人飛行器掛載攝影機以高空的角度觀賞這個世界的美麗，感受大自然的奧妙，甚至還能夠利用四旋翼無人飛行器進行環境監測、農藥噴灑以及人類不適合前往的艱困環境。但是四旋翼無人飛行器的操作不易上手，需要大量時間練習，且操作指令繁複。本研究希望改善這些遙控設備操作困難的問題，讓人們能輕鬆且快速上手四旋翼無人飛行器以及任何使用2.4G無線電頻率傳輸系統操控的設備，利用我們開發的遙控接收端結合手持裝置的IMU(Inertial Measurement Unit)計算姿態，讓四旋翼無人飛行器隨著手持裝置的姿態飛行。同時還結合近年來熱門技術FPV(First-Person View)眼鏡，使攝影鏡頭會隨著FPV眼鏡轉動，讓使用者體驗第一人稱視角飛行，然而以第一人稱視角飛行時，容易因為沒有景深畫面抓不到距離感導致碰撞，為了解決此問題，本研究加入了3D影像處理，讓四旋翼無人飛行器掛載攝影機，其畫面經過處理成3D影像後直接傳遞到FPV眼鏡的畫面中，讓人更有身歷其境的效果。最後再加入遠端控制，讓人們可以身在國內，也可以控制位於國外的四旋翼無人飛行器，就算不用出國，也能自由自在地欣賞國外美景。

關鍵字

四旋翼 ； 無人飛行器 ； 3D影像 ； FPV眼鏡

並列摘要

Nowadays, whether adults or children have many ways to kill time. The remote controlled transport is one major way to entertainment. There are remote control cars, remote control boat, remote control aircraft, and so on. These devices are mostly using 2.4G radio frequency transmission system. In recent years, multi-rotor aircraft is getting the most study and unmanned aerial vehicle (UAV) is the focal point of the research. Popular use of UAV is people can feel the mystery of nature directly through enjoying different points of view from a height by mounted camera. Furthermore, UAVs are often preferred for mission that is dull, dirty or dangerous for humans, such as surveillance, agriculture, search and rescue. However, the most people may have heard of but very unfamiliar. Due to the drone operation is complicated, it's hard to get started. Therefore, this paper will solve the difficulty of learning drone operation so that people can easily and quickly get started. In addition, it is applicable to any device which remote control by 2.4G radio frequency transmission system. The basic principle is using the mobile phones inertial measurement unit (IMU) sensor or the remote controller which developed by ourselves to control the direction and altitude of drone. Furthermore, we have added the head tracking function, which allows users to experience the first person view (FPV) with drone camera which synchronizes to the popular visual reality (VR) headsets. Along with imported 3D imaging technology, solving distance perception problems and bringing out the immersive effect to users. Aside from that, we’ve also created a website with real-time streaming of the drone, as well as a long range remote with buttons which can control the drone, so that people can enjoy the beauty abroad even if not abroad.

並列關鍵字

Quadrotor ； Unmanned Aerial Vehicle ； 3D Imaging ； First Person View

參考文獻

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