| Summary: | 碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 90 === Grasping recent developments in miniature-sized computer, its peripherals, electronic sensors, and optical sensing equipment at affordable cost, the Unmanned Aerial Vehicle (UAV) with functions of long endurance and flight autonomy beyond the visual range has gradually undertaken an attractive challenge in the university sectors. Based on these specific mission requirements and employing the existing commercial on-the-shelf products, this paper therefore focuses on the development of a low-cost simple navigation system for the model kit size UAV of Cessna 182 with a CCD optical payload system for acquiring and transmitting images.
Having the simplicity of construction in mind, the navigation system is designed through a Global Positioning System (GPS) receiver and the miniature home-designed 3-axis rate gyroscopes. The mission requirements of the navigation system deem it to detect the three dimensional position, velocity and attitude, including roll, pitch and yaw angles of UAV. The attitude measurement system, which is the strapdown type, is therefore developed using three miniature rate gyroscopes for the optical sensing system. The Garmin GPS-25 is adopted for position and velocity observations. In addition, the air data sensing system is composed of a pressure altitude sensor and airspeed sensor to detect the pressure altitude and airspeed.
The whole system has already been demonstrated in the flight tests to be capable of providing the desired navigation information in real-time. The low-cost objective has also been achieved.
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