題目：無人飛行載具地面移動目標影像自動鎖定追蹤系統之研發
學生姓名：陳俊志
指導教授：蕭飛賓
近年來，無人飛行載具被廣泛的應用，由於電子科技進步的帶動下，各種感測元件都微小化、輕量化，像是微處理器、微機電感測元件、小型全球定位系統之接收器、微型無線數據機，這些元件體積小、功能強大、價格低廉，使得各大學紛紛投入研究無人飛行載具的研究。
成功大學航太所RMRL實驗室經過多年的研究，目前的已具備視距外自主飛行的能量。就無人飛行載具而言，能獨立完成特定任務是一重要指標，因此，本實驗室亦在無人飛行載具之光學遙測系統也有不錯的成果，本研究目標是建立可自動鎖定地面上移動目標且持續追蹤其動態之空中遙測系統。研究內容主要包含光學攝影機轉動平台開發、控制攝影機所需之無線傳輸系統開發以及配合鎖定追蹤之地面站人機介面開發。其中地面站的開發是關鍵，本研究是利用影像處理來進行目標鎖定，所有相關運算都是在地面站完成，利用影像處理中的顏色判別完成追蹤，經由無線傳輸系統上傳控制指令，整體系統已於實際飛行中完成驗證。

Subject: Moving Ground Target Auto-Tracking CCD Imaging System Development for UAV
Advisee: Mr. Chun-Chih Chen
Adviser: Professor Fei-Bin Hsiao
In recent years, the applications of Unmanned Aerial Vehicle (UAV) have grown drastically around the world. Under the drive of the electronic scientific and technological progress, more and more universities in particular in aerospace engineering have established their own UAV programs with the help of the developments in small and low-cost avionic components such as microchip and MEMS sensors.
The RMRL in IAA of NCKU, which have devoted to research in UAV system for years, the power of autonomously beyond-visual-range flight have established. To execute a specific mission in the autonomous flight is the essence of a UAV. There is very good achievement of optical systems. This thesis is focused on the development of a ground moving target-lockup optical remote sensing system to be used on the UAV system for surveillance mission. In order to reach this mission, some subsystems are developed including an active CCD-camera-gimbal subsystem to rotate the camera, a transmission subsystem for the control of the gimbal, and a ground control station to operate in coordination with the airborne system. In particular, the ground control station is the key of this research because the camera can be continuously pointed to a ground moving target during the flight using image processing method. All relevant operation is finished at the ground control station. This method is to use the color to track, and the transmission subsystem to transmit command to CCD-camera-gimbal subsystem. Finally, the whole system has been proved in flight experiment.

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24.The FreeWave wireless modem, http://www.freewave.com/products.html

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