碩士 / 淡江大學 / 航空太空工程學系碩士班 / 99 / This thesis focuses on the measurement of position and attitude of micro-aerial vehicles (MAVs) using stereo-vision technology. Since stereo-vision can obtain three dimensional (3D) coordinate, it has been widely applied to various fields. Currently, micro-class sensors or nano-class sensors are not mature enough to serve for measurements of MAVs. It is more difficult for us to obtain the attitude of an MAV than that of a regular aerial vehicle. We propose the do the measurements using an outside, non-intrusive equipment. In this thesis, we make some marks on the fuselage or wings of a MAV, and use the stereo-vision to identify their 3D positions. This information can then be converted to the attitude. In order to lower down the cost, commercial webcams are employed in the experiments, and simple calibrations are designed to increase the precision. A four axes platform is also introduce to offer the accurate position and attitude of the MAV, so that quantitative analysis is possible. Though the main investigated target in this thesis is a flapping-wing MAV, the methodology and algorithms proposed in this thesis can be applied to any other type of MAVs.
| Identifer | oai:union.ndltd.org:TW/099TKU05295017 |
| Date | January 2011 |
| Creators | Huai-Ken Hsu, 許懷根 |
| Contributors | 蕭富元 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 70 |
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