On the Motion Estimation of Unmanned Vehicle Systems

碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 101 === Because of the advantage of light weight, high mobility and flexibility, the range of applications for unmanned aerial vehicle are expanded gradually. In order to increase stability of unmanned aerial vehicle or to achieve semi-automatic and automatic contr...

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Main Authors: Shing-HungLai, 賴信宏
Other Authors: Chen Hsieh
Format: Others
Language:zh-TW
Published: 2013
Online Access:http://ndltd.ncl.edu.tw/handle/08992504613948509561
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spelling ndltd-TW-101NCKU52950092016-03-18T04:41:50Z http://ndltd.ncl.edu.tw/handle/08992504613948509561 On the Motion Estimation of Unmanned Vehicle Systems 無人載具慣性運動量測 Shing-HungLai 賴信宏 碩士 國立成功大學 航空太空工程學系碩博士班 101 Because of the advantage of light weight, high mobility and flexibility, the range of applications for unmanned aerial vehicle are expanded gradually. In order to increase stability of unmanned aerial vehicle or to achieve semi-automatic and automatic control, it is usually use AHRS(Attitude Heading Reference System) and GPS(Global Positioning System) to feedback information of attitude, position and velocity. However, AHRS is very expensive and probably not fit the specification of control. Moreover, the whole control system becomes complicate and needs more space when it has to integrate all sensors and control unit. Therefore, it has to develop a motion sensor which can overcome the disadvantage of the above and provide the information of UAV to the control system. In this research, it uses 32 bits microprocessor of Microchip and integrates gyroscope, accelerometer, magnetometer, barometric altimeter and GPS to apply the mathematic model built in this research. Chen Hsieh 謝成 2013 學位論文 ; thesis 74 zh-TW
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language zh-TW
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description 碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 101 === Because of the advantage of light weight, high mobility and flexibility, the range of applications for unmanned aerial vehicle are expanded gradually. In order to increase stability of unmanned aerial vehicle or to achieve semi-automatic and automatic control, it is usually use AHRS(Attitude Heading Reference System) and GPS(Global Positioning System) to feedback information of attitude, position and velocity. However, AHRS is very expensive and probably not fit the specification of control. Moreover, the whole control system becomes complicate and needs more space when it has to integrate all sensors and control unit. Therefore, it has to develop a motion sensor which can overcome the disadvantage of the above and provide the information of UAV to the control system. In this research, it uses 32 bits microprocessor of Microchip and integrates gyroscope, accelerometer, magnetometer, barometric altimeter and GPS to apply the mathematic model built in this research.
author2 Chen Hsieh
author_facet Chen Hsieh
Shing-HungLai
賴信宏
author Shing-HungLai
賴信宏
spellingShingle Shing-HungLai
賴信宏
On the Motion Estimation of Unmanned Vehicle Systems
author_sort Shing-HungLai
title On the Motion Estimation of Unmanned Vehicle Systems
title_short On the Motion Estimation of Unmanned Vehicle Systems
title_full On the Motion Estimation of Unmanned Vehicle Systems
title_fullStr On the Motion Estimation of Unmanned Vehicle Systems
title_full_unstemmed On the Motion Estimation of Unmanned Vehicle Systems
title_sort on the motion estimation of unmanned vehicle systems
publishDate 2013
url http://ndltd.ncl.edu.tw/handle/08992504613948509561
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