- 學位論文
UAV多機架構導控地面站設計與實現
Development and Implementation of Multi-UAV Ground Station
摘要
中文摘要 學生：陳政旗 指導教授：林煥榮 無人飛機(Unmanned Aerial Vehicle , UAV)自主飛行航電系統主要分為兩大部份，包括裝在載具上擔任自動駕駛的飛行電腦，和地面控制站(Ground Control Systems, GCS)兩大部份。本研究主要在設計、製作與測試UAV 的地面控制站系統。 地面控制站系統包含通訊介面電子系統(Ground Station Interface Box, GSIB)、天線追蹤系統(Automatic Tracking Antenna System, ATAS)和地面導控軟體(Ground Control Station Software, GCSS)，透過以上各系統的整合，使一UAV可於手動與自動模式，操控UAV及賦予各種任務命令。 另一方面，本論文是利用無線傳輸模組所提供的網路拓樸技術(Network Topology)，搭配可供判別的通訊協定(Protocol)，與以物件導向所撰寫的GCSS，達成多機導控的設計與實現。 而有關地面控制站的飛行驗證，本論文將分為三階段，第一階段為地面測試；第二階段為手自動模式測試；第三階段為全自動模式。利用以上階段，我們將一一驗證該系統之功能和系統穩定性，以確保系統後續發展之安全性。
並列摘要
Abstract Student：Cheng-Chi Chen Advisor：Huan-Jung Lin The UAV (Unmanned Aerial Vehicle) autopilot system is divided into two parts, including mounted on a vehicle’s autopilot and on ground’s GCS (Ground Control Station). This thesis focused on the development, implementation and test of the UAV’s GCS system. A GCS included GSIB (Ground Station Interface Box), ATAS (Automatic Tracking Antenna System) and GCSS (Ground Control Station Software), through the integration of the above subsystems, so that the UAV can work on manual or auto mode, to operate UAV by different mission requirements. This thesis used the network topology technology provided by the wireless transmission module, with the discriminate protocol, and GCSS developed by OOP (Object-Oriented Programming), then reached a design and implementation of multiple UAV navigation and control. This thesis divided the flight verification into three phases. The first verification is ground test, the second phase is the testing of the manual-automatic mode and the third phase is the fully automatic mode. Using the above stages, we will carefully check the function and reliability of the system to ensure the safety for future development.