碩士 / 國防大學理工學院 / 航空太空工程碩士班 / 97 / The purpose of this research is to design and actually development a chip based navigation system. We used an embedded system as the arithmetic unit、and choose an unmanned aerial vehicle to verify the capability of the system. In system implementation、we first selected a mini-UAV wing-span 40 cm as the target vehicle、and obtained dynamic performance via program simulation、then decided major parameters in our embedded chips and sensors. Finally、we tuned the settings after actual flight test such that the vehicle can keep stable flight in attitude、altitude、and air speed.
Because our embedded system is small enough to install into the mini-UAV、the flying stability became the major concern. In order to develop the flight control and navigation system、we separate the development procedure in three different stages. In stage one、we used a ground vehicle to conduct a series of preliminary test、then develop flight control and navigation algorithm in a commercial R/C airplane model (TT-Cub) for flight testing in stage two. In stage three、we transplanted this embedded system into our mini-UAV and succeeded in auto pilot flying.
In the implementation of navigation theory and mathematic modeling、we captured signals from 3 axial gyros and accelerators and then predicted Euler’s angles by Kalman’s filter for feedback control to keep system stable. In navigation、we received GPS signal and utilized PD controller to complete point-to-point guidance、altitude hold、and course tracking. Besides、we also applied the Hopf bifurcation equation to construct our loiter guidance. After numerous flight tests、results and data show the feasiblity of our navigation system.
| Identifer | oai:union.ndltd.org:TW/097CCIT0295003 |
| Date | January 2009 |
| Creators | Hsieh Ya-Wen, 解雅雯 |
| Contributors | Kuo Zeal-Sain, 郭智賢 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 81 |
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