無人機觀測資訊運用於對地定位之研究

無人飛行載具因為操控性、便利性以及機動性等原因，使得所搭載相機之拍攝影像比起以往可有更加多元的應用。本研究嘗試使用低價位簡易型低空多旋翼型無人飛行載具，搭載距離或影像感測工具所獲取之觀測資訊，進行地面目標物空間定位之工作。所研擬及測試之空間定位方法，計有距離感測定位、相片量測定位以及相片取距定位等三種。由實驗場之測試成果可知，三種定位方法在對地目標物之定位應用上，當使用簡易作業方法時，所取得之平面定位誤差分別為2.5 公尺、4.1 公尺及1.5 公尺。另當本研究研擬並使用個別適用之改良方法時，所取得之平面定位誤差可更進一步降低至2.0 公尺、 0.1 公尺及1.0 公尺，改善率分別為20%、98%及33%。在實際進行搜救或搜索之應用下，本研究所探討之無人飛行載具對地定位方法，可視當時之運用條件、精度需求以及作業時間等因素，進行適地適時的發揮。

關鍵字

搜尋定位；無人飛行載具；距離感測；空中攝影

並列摘要

Due to their high maneuverability, convenience and mobility, the Unmanned Aerial Vehicles (UAVs) have made the applications of the images captured by the cameras carried more diverse than ever before. This study attempts to use the low-cost simple low-altitude multi-rotor UAV, equipped with observation information obtained by range or image sensing devices, to perform spatial localization of ground targets. Three spatial localization methods developed and tested include using range measurement, photo measurement and photo distance. From the test results of the experimental fields, it can be realized that the three spatial localization methods working with the simple operation modes, the plane errors obtained are 2.5 m, 4.1 m and 1.5 m, respectively. In addition, when the proposed modified modes are applied individually, the obtained plane errors can be further reduced to 2.0 m, 0.1 m and 1.0 m, and the improvement rates are 20%, 98% and 33%, respectively. Under the circumstances of practical searching or rescuing, the proposed spatial localization methods using the UAV can be properly adopted based on the considerations of the operating conditions, accuracy requirements and operating time.