本研究的目的在於設計自動導航控制器並整合無人飛行載具飛行平台進行自主飛行實驗，以作為理論的驗證。自主飛行系統的設計從數學模型的建立開始，利用離散控制的理論設計出以PID控制器與輸出飽和限制為核心的飛行控制器，可控制飛機的姿態到預期的角度，並透過姿態的改變將飛機控制到預期的高度與真實航向，進而依據導引系統的演算結果飛過所有預設的導航點。此外，針對縱向控制器因橫向運動而無法維持飛機高度的問題，則透過耦合補償器的加入來解決。
　　飛行控制平台是由載具、感測系統、嵌入式單板電腦、資料鏈結系統、伺服控制系統與地面監控站整合而成，可提供氣壓高度、空速、GPS資訊、角速度、姿態等資訊的量測，以及導航邏輯的計算，並透過地面監控站進行導控參數的設定與調整。
　　經過一系列循序漸進的實驗規劃，自主飛行系統的設計概念已逐步在無人飛行載具實現，並實際達成自主飛行的目標。

　　This study presents an approach to implement the flight controller on autonomous UAV flight. The controller with the core of PID controller augmented with output saturation is designed with the estimated model of UAV according to discrete-time linear control theory to control the aircraft attitude, altitude, and course over ground to follow the guidance algorithm. The couple compensator is utilized to solve the problem that the low lift which results from lateral motion causes longitudinal controller fail to maintain aircraft altitude.
　　The flight control platform is composed of plane, sensor system, embedded single board computer, data link system, servo control system and ground control station. It provides the measurements concerning the aircraft attitude, air speed, height, GPS position, and angular velocity. Through data link system, the ground control station can easily updates the mission commands.
　　The functions of the whole system are examined, implemented, and finally proved on the UAV through a series of flight tests with successful data analysis.

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