本文旨在設計一套具備自主視距外飛行、導航與目標監視功能的小型無人飛行載具系統。系統以飛控電腦為核心,結合各類感測器和全球衛星定位系統,設計飛行控制系統,將無人飛行載具導航在預定的路徑上;飛行控制系統設計了具有雙迴路的PID控制的縱橫向飛行控制律,以及以全球衛星定位系統為基礎的導航演算法,形成僅需少量感測器和執行機構的飛行控制。本文的設計方法可廣泛適用於低速穩定飛行的小型無人飛行載具,其具有良好的靜態和動態性能。
This paper presents the design of an unmanned aerial vehicle (UAV) system with autonomous beyond-visual-range flight, navigation, and surveillance capability. A flight control system equipped with flight control computer, several sensors and GPS is designed for controlling the UAV to fly on the presumptive route. In the process of designing, the two negative feedback loops with PID controller and the navigation methodology based on the GPS are built up. Just a few sensors and servos are required by this flight control system. The system is widely applicable to the low-speed, small-scaled, nature-stability UAVs. It has good static and kinetic qualities.