- 學位論文
多旋翼垂直起降無人飛行載具與地面導控站之整合應用
The Integration of Multi-Rotor VTOL Aerial Vehicle with The Ground Control Station
摘要
無人飛行載具UAV (Unmanned Aerial Vehicle)的發展已有多年，而近年來又以多旋翼垂直升降無人飛行載具(Multi-Rotor Vertical Take-Off and Landing Unmanned Aerial Vehicle)的發展最為蓬勃迅速，而其飛行姿態的數學方程式也已被一些學者所提出並加以驗證。發展至今，多旋翼垂直升降無人飛行載具已經是一種能夠穩定飛行的無人飛行載具之一。 本文研製了一部非對稱型(Flyduspider)的六旋翼飛行載具，它有頭向辨識容易與承載空間大等優點，在研製過程中也針對選用不同的馬達與螺旋槳進行模擬與實驗，以找出效率高、省電、續航力長之搭配。六旋翼製作完成後也進行了許多不同功能的測試，例如：定高(Altitude hold)、定點懸停(Loiter)、自動返航(Return to launch)與自主飛行(Auto)等。 此外，本文也研製了一部可攜式地面導控站(Ground Control Station)，結合地面導控站的遠端遙控，在六旋翼無人飛行載具執行任務時，可即時顯示六旋翼的姿態、位置、空拍影像及感測器資訊等。本研究也要運用地面導控站上的即時空拍影像、GPS(Global Positioning System)座標與INS(Inertial Navigation System)並擷取方位角與高度等資訊，來快速定位出空拍影像上特定點的經緯度座標，以完成台灣無人飛機創意競賽(視距外組)之目標物搜尋之座標定位需求。 經過不斷的設計、試飛與改良，期盼六旋翼無人飛行載具與地面導控站成為一套多功能酬載且架構完善的無人飛行載具系統。
並列摘要
Unmanned aerial vehicle (UAV) had been developed for many years, and the multi-rotor vertical take-off and landing (VTOL) unmanned aerial vehicle was developed fastest. The equations of their flying attitude have been derived and verified by some scholars. Up to now, the quad-rotor unmanned aerial vehicle has been already become one of the UAV that can fly stably. In this research, it developed an asymmetric (Flyduspider) of the Hexa-rotor aerial vehicle, which had the following advantages:easily identified orientation and larger payload ability. During the developing process, we use the different motors and propellers to simulate and experiment to collocate with high efficiency, energy-saving, and long endurance. After completing the Hexa-rotor , we started to proceed a series of tests for its functions. For example, altitude hold, hovering (Loiter) , return to launch, and autopilot ...etc. Also, we developed a portable ground control system(GCS) that could control and moniter the aerial vehicle remotely. When the Hexa-rotor unmanned aerial vehicles performs the tasks, it can show the attitude, GPS position, aerial images and sensor information of the Hexa-rotor in real-time. We have to use the immediate aerial images on the ground control system, GPS (Global Positioning System), and INS (Inertial Navigation System) to retrieve the information of azimuth and height to quickly locate a particular point of its latitude and longitude that we can complete the requirements of target-searching and coordinates-located in Taiwan innovative unmanned aircraft design competition (Navigation Flight Design Level). After the continuous designing, testing and improvement, we hope that the Hexa-rotor unmanned aerial vehicles and ground control station can become the unmanned aerial vehicle systems with multi-functions perfect structure, and carry more payload.