碩士 / 逢甲大學 / 航太與系統工程學系 / 104 / The main purpose of current research is to build the Unmanned Aerial System (UAS), which is capable of image recognition/positioning, autonomous tracking and navigation, with the integration of sensors, on-board computer, and flight controller.
For object tracking, the image is captured by a webcam installed on a gimbal, and after that the recognition/positioning tasks are proceeded through the on-board computer with the programs written by using LabVIEW. In order to maintain proper elevation and distance between the object and drone, information from the laser rangefinder will be sent to the control core for processing together with other data from sensors, such as the GPS/Compass reading and attitude angles of the gimbal from image recognition part, for achieving the goal of autonomous tracking and navigation.
The overall architecture of on-board system is primarily based on the core device, the NI myRIO, which deals with the information from its accelerometer, electronic compass, GPS receivers, the LIDAR Lite laser rangefinder, two-axis gimbal and webcam, etc. After processing data, the core will send the command to the Naza-M Lite flight controller to perform tasks.
| Identifer | oai:union.ndltd.org:TW/104FCU05295006 |
| Date | January 2016 |
| Creators | Chang chin chien, 張智傑 |
| Contributors | 陳啟川 |
| 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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