高精度定位儀於無人機航管與跟隨之應用

Applications of High-Precision Positioning Module in UAV Management and Vehicle Tracking

陳昱而(Yu-Er Chen)

指導教授 ： 吳瑞北

國立臺灣大學/電機資訊學院/電信工程學研究所/碩士(2021年)

https://doi.org/10.6342/NTU202101262

摘要

本論文提出了一個包括UWB、Feather M0 with LoRa、GPS及RPi 4B模組之高精度定位儀系統架構，搭配本文提出之二階段定位法，可應用於無人機群系統之偵測與避撞、電子圍籬及飛行空域管理。透過本法在室外以無人機為中繼站對GPS收訊不好之待測物定位，可有效改善GPS之平均相對水平誤差從2.02改善至0.35m，平均相對高度誤差從3.39m改善至0.32m。
其次則針對遙控訊號接收器進行逆向工程，可應用於模擬人操控無人機跟隨目標，解決無人機影像跟隨會因環境或目標特徵相似造成影像辨識的問題。實驗設計無人機與待測物間初始距離為7公尺，整個實驗無人機跟隨距離之95%累積誤差為3.4公尺，此應用可延伸至無人機群編隊飛行。

關鍵字

超寬頻模組 ； 無人機跟隨 ； 逆向工程

並列摘要

This paper proposes a high-precision module consisting of UWB, Feather M0 with LoRa, GPS, and RPi 4B. The two-stage positioning method proposed with this system architecture can be applied to the detection and collision avoidance of UAV swarm., electronic fence, and UAS traffic management (UTM). By using drones as a relay station outdoors to locate the object under test in GPS-denied or poor region, the present method can effectively reduce the GPS relative latitude error from 2.02m to 0.35m and the average relative height error 3.39m to 0.32m.
Then, through reverse engineering the remote controller to simulate the human control of UAV, the high-precision module is applied for auto following. The tracking interruption by image recognition failure due to similar environment or target features can be alleviated. In the experimental design, the initial distance between UAV and the target is 7 meters, and the 95% cumulative error of UAV following distance is 3.4 meters. This application can be extended to the UAV swarm flight.

並列關鍵字

Ultra-wide band ； Reverse engineering ； UAV follow

參考文獻

[1] “無人載具科技創新實驗條例,” 經濟部, 19 12 107. [線上].https://law.moj.gov.tw/LawClass/LawAll.aspx?pcode=J0030147

[2] 劉朱松,“自駕小巴Winbus 24日載客試運行,”工商時報, [線上].https://www.chinatimes.com/newspapers/20190923000237-260204?chdtv

[3] "Commercial Drone Market Size Trends Report, 2019-2025," Grand View Research, [Online]. https://www.grandviewresearch.com/industry-analysis/global-commercial-drones-market [Accessed 2019].

[4] G. N. Fandetti, "Method of drone delivery using aircraft". US Patent 14/817,356, 2015.

[5] Y. Huang, S. J. Thomson, W. C. Hoffmann, Y. Lan, and B. K. Fritz,"Development and prospect of unmanned aerial vehicle technologies," International Journal of Agricultural and Biological Engineering, vol. 6, no. 3, p. 1–10, 2013.