| Summary: | 碩士 === 國立雲林科技大學 === 電機工程系碩士班 === 101 === Autonomous unmanned rotorcrafts obviously prevail over the fixed-wing aircrafts in the application of surveillance and reconnaissance because they are capable of taking off and landing vertically as well as hovering in the air. Typical civil applications include taking aerial photograph, road patrol, oil pipeline inspection, railway traffic monitoring, and monitoring of the seacoast, accident monitoring of oil tankers, nuclear plants, volcanic eruptions, earthquakes, etc. Needless to say, the development of unmanned rotor crafts is mainly motivated by military demand and numerous applications have emerged in the battle field and undoubtedly will bring about enormous compact on the war in the future.
Recently, with the advance of autonomy technology aerial surveillance has been madepossible with low-cost unmanned helicopters. Autonomy technology usually involves a hierarchical control system, in which a layered architecture is designed to perform specific control tasks in accordance with the flight command. Furthermore, autonomy technology also involves sensor fusion techniques, communication, path planning, guidance and navigation as well.
This thesis main objective is to incorporate the MEMS motion sensors into the design of a general-purpose flight control board. The flight control board consists of an STM32F103VG MCU embedded with an ARM Cortex M3 CPU inside which adequate input/output communication ports as well as useful peripheral interfaces such as PWMs, ADCs, etc., can be deployed. Specifically, the novel sensor fusion algorithm will be integrated into the design of the flight controller so that a compact, small in size, yet reliable control board can be realized to meet the design specifications for autonomous helicopters.
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