本論文以F-16為無人飛行載具(UAV)模型，並以所使用之導引飛控整合自動駕駛儀為研究重點，主要探討自動駕駛儀參數選取對飛行性能之影響，並提出尋找適合各種飛行狀態之參數的分析方法。自動駕駛儀之導引律設計，乃利用UAV與目標間之相對位置與飛行速度，轉換成UAV所需要的飛行控制命令。飛行控制器則應用回授線性化及滑動模式(Sliding mode)設計一具有強健性的非線性控制器，接受飛行控制命令指揮UAV並完成飛行任務。自動駕駛儀參數眾多，參數與飛行性能間之關係值得深入探討，期能達到飛行穩定及最佳化的要求。為能清楚了解UAV飛行過程，本研究利用雙台電腦連結航電儀器進行即時含硬體迴路動態模擬。其中一為飛行模擬電腦，以Visual C++撰寫軟體計算UAV即時飛行動態，並接收單晶片處理器所擷取之GPS定位與精密電子羅盤之姿態量測，另一電腦使用圖形語言LabVIEW發展動畫軟體，接收即時模擬數據，並以動畫方式表現飛行導引過程，輔助設計或驗證UAV自動駕駛儀之用。最後以四個範例說明自動駕駛儀參數選取對飛行導引飛控整合自動駕駛儀之重要性。

　　A F-16 as the UAV dynamic model and its integrated guidance and flight control autopilot is chosen in this research as the main focus of this study. The objective is to investigate the effect of autopilot parameters to the flight performance of an unmanned aerial vehicle (UAV) and proposes an analysis method for selecting a set of parameters best suited for many different flight conditions. The guidance law of the autopilot transforms the relative position between the UAV and a desired location and the velocity of the UAV into flight control command. The flight control law, a robust nonlinear controller, based on feedback linearization and sliding mode control receives the flight control command, directs the UAV, and reaches the desired location. The autopilot includes a large set of parameters worthy of in-dept study to achieve stable and optimal flight performance. In order to better understand the UAV flight behavior, a hardware-in-the-loop real-time simulation platform is formed with two PCs and avionic instrument. The UAV flight simulation software written with Visual C++ is placed in one PC, which connects with a position GPS and a high precision attitude compass through a data modulating single chip processor. The simulation data are transported to the other flight animation PC, in which an animation software written with graphical language, LabVIEW is developed. The platform helps engineers in designing or verifying the UAV autopilot. Finally, four flight control examples are included to demonstrate the importance of parameters selection to the integrated guidance and control autopilot.

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