碩士 / 國立成功大學 / 航空太空工程學系 / 87 / There are many research institutes and universities having contributed their efforts on developing the multi-purposed unmanned aerial vehicles (UAV), which can be used either in military or civil applications. This is simply because UAV can carry out such missions that may be dangerous, long-endurance, or even reducing the cost and manpower. This paper then emphasizes on the development of a navigation payload system (NPS) employing the differential Global Positioning System (DGPS) incorporated with an Inertial Measuring Unit (IMU) for tests in two home-made UAVs. The Radio Data System (RDS) is used for conducting the real-time differential calculation of the GPS through radio broadcasting for long range navigation in an on-board computer. The position accuracy is much augmented to be less than 3 m in the kinematic flight condition of the single GPS used. In addition, a navigation algorithm with coordinate transformation and Kalman filtering for the IMU is developed as well to realize UAV''s attitude and navigation information to be linked with the DGPS data. Therefore, the navigation payload system in combining GPS/RDS/IMU with a digital CCD camera system can provide the UAV with full capability for conducting the data/image targeting acquisition with high accurate positioning and navigation information. Through a Radio Frequency (RF) modem in communication with a ground station, the UAV can also perform real-time monitoring and surveillance.
| Identifer | oai:union.ndltd.org:TW/087NCKU0295040 |
| Date | January 1999 |
| Creators | Chiang,Jun-Wen, 江俊文 |
| Contributors | Hsiao,Fei-Bin, 蕭飛賓 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 77 |
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