中文摘要
題目: 無人飛行載具光學遙測系統開發研究
研究生: 蔡逸峰
指導教授: 蕭飛賓 教授
無人飛行載具廣泛的應用於軍事民生與科學等領域，全球的研發單位歷經數十幾年的開發，已使得無人載具的實用性大為提升。成功大學航太所無人遙控載具與微衛星實驗室已經累積了十多年無人飛行器的開發經驗，近來開發團隊更將無人飛行載具的技術推進至視距外自動飛行。因此，為配合實驗室的無人飛行載具開發時程與需求，光學籌載系統便孕育而生。本論文的研發，為利用現成的市售零組件 完成系統工程的規劃需求，開發一套專屬於本實驗室無人飛行載具的光學籌載系統，內容包含了硬體與軟體的研發。
為配合無人飛行載具的開發時程表，設計了兩套光學籌載系統：第一套為可程式控制的自動相機，可依預先設定的路徑參考點為依據，將搭載於無人飛行載具的GPS全球定位系統的定位資料加以比較，使得無人飛行載具於接近地面目標物時自動拍攝目標影像。第二套為地面目標物鎖定與即時影像傳送系統，由一套主動式攝影機伺服平台與影像傳送套件所組成。主動式攝影機伺服平台將攝影機鎖定地面目標物，而攝影機便透過影像傳送套件將目標物影像即時回傳地面站，使地面站除可檢視無人飛行載具的各項數據，也可以藉由螢幕觀察目標物的即時連續影像。光學籌載系統將使無人飛行載具的任務適應性更加廣泛。

Abstract
Subject：The Development of Optical Sensing and Telemetry System for Unmanned Aerial Vehicle
Student：Mr. Yi-Feng Tsai
Advisor：Professor Fei-Bin Hsaio
Unmanned Aerial Vehicle (UAV) has proven their values and practicability in a variety of civil, military and scientific applications for many decades. With the aims of extensive usage of such UAV systems, one of the major goals in this study is to develop a programmable automatic remote sensing payload system for the UAV in National Cheng Kung University (NCKU). This paper describes the development of the optical remote sensing system which consists of the off-the-shelf components for the autonomous UAV, including system hardware setup and software programming.
The mission of the payload system can be divided into two categories. The first category is to take the aerial photographs on the designated target whose coordinates is pre-assigned, and then to trigger the point-and-shoot of the camera automatically by the OBC command, once reaching the assigned target area. The second category is to establish a gimbal-type active target locking servo platform to carry the Charge-Coupled Device (CCD) camera always pointing to the ground target automatically. Meanwhile, the transceiver of the system will transmit the target image to the ground station with NTSC analog signal format so that the images can be displayed on a monitor screen in real time.

[1] http://maic.jmu.edu/journal/3.2/focus/schiebel_mad/schiebel.htm
[2] http://www.af.mil/news/factsheets/RQ_1_Predator_Unmanned_Aerial.html
[3] http://www.fas.org/irp/imint/b_vogo1.htm
[4] Fei-Bun Hsiao, Meng-Tse Lee, “The Development of Unmanned Aerial Vehicle in RMRL/NCKU”, 4th Pacific International Conference on Aerospace Science and Technology Kaohstiung, Taiwan, May 2001.
[5] Cooke, J. M., Zyda, M. J., Pratt, D. R., McGhee, R. B. “NPSNET: FlightSimulation Dynamic Modeling Using Quaternions”, Presence, Vol. 1, No. 4, pp. 404-420, Fall 1992..
[6] Pervin, E., Webb, J. A., “Quaternions in Computer Vision and Robotics”, CMU-CS-82-150, 1982.
[7] Ildeniz Duman, “Design, Implementation, and Testing of A Real-time Software System For A Quaternion-Based Attitude Estimation Filter”, Master’s Thesis, Naval Postgraduate School.
[8] http://www.rentron.com/SerialServo.htm
[9] Thomas R. Kane, Peter W. Likins, David A. Levinson “ SPACECRAFT DYNAMICS”, McGraw-Hill, Inc., 1983
[10] Guan, W.L., Hsiao, F.B., Ho, C.S., and Huang, J.M., “Development of Low-Cost Differential Global Positioning System for Remotely Piloted Vehicles”, AIAA Journal of Aircraft, Vol. 36, No. 4, pp. 617-625, July-August, 1999