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研究生： 詹博硯
Chan, Po-Yen
論文名稱： 高空影像經Wi-Fi傳輸於遠距目標物定位之可行性研究
Feasibility Study on Distant Target Positioning Using Aerial Image through Wi-Fi Communication
指導教授： 賴維祥
Lai, Wei-Hsiang
學位類別： 碩士
Master
系所名稱： 工學院 - 航空太空工程學系
Department of Aeronautics & Astronautics
論文出版年： 2014
畢業學年度： 102
語文別： 英文
論文頁數： 93
中文關鍵詞： 無人飛行系統 、影像定位 、Vincenty’s formulae
外文關鍵詞： Unmanned Aircraft System, Image positioning, Vincenty’s formulae
相關次數： 點閱：101  下載：5 
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    • 本研究的主要方向為建立一個利用高空影像經Wi-Fi傳輸對於遠距離目標物定位系統之可行性研究。此系統主要分為地面站與高空載具端兩個部分。高空載具部分會搭載著相機及控制板，飛行控制板為APM2.5主要提供載體的導航資訊與維持機體的穩定性。藉由相機對於目標物的即時資訊擷取，由Wi-Fi無線傳輸系統將相片以及GPS座標傳至地面站。地面站部分會接收由高空載具端所傳輸的資訊，藉由所得到的資訊做進一步的分析與運算。首先藉由圖形使用者介面將載具上所得之資訊整合，手動的方式選取目標物，同時取得目標物之像素值。此時將所得到的目標物像素值與高空載具的GPS座標藉由MATLAB軟體所引用Vincenty’s formulae計算出座標做進一步的定位，最後將所計算出之結果顯示於使用者介面，以供使用者能夠輕易地得知結果。
    本研究已成功實現經Wi-Fi傳輸影像對於遠距目標物的定位，藉由室內實驗分析由人為因素所造成的像素偏離誤差，以及由載體的俯仰角所造成的角度偏離誤差。同時於室外實驗中分析不同高度所計算出距離的誤差，以及解析度對於整體分析所造成的結果。

    The aim of this research is to develop an active system to determine the distance of an unknown target by the aerial image transmitted through Wi-Fi wireless communication and the calculation by Vicenty’s formulae. This system includes on-board system on the aircraft and ground station.
    The Ardupilot Mega 2.5 is used to provide aircraft navigation information and to maintain attitude stability, also the aircraft coordinate information and the heading of aircraft provided by GPS module. As the aircraft is in flight mode, target pictures are taken continually by the onboard image capturing system. The aircraft information is transmitted by the wireless system (Wi-Fi) to the ground station.
    On ground station, graphical user interface (GUI) which is written by Visual Basic integrates the GPS coordinate and target pictures that are sent down from the aircraft. The specific pixels of the target picture are chosen manually in the GUI. With the integrated information, Vincenty’s formulae will then be utilized in the form of a MATLAB script to perform the interpolation. Finally the results will be shown on the GUI. The pixel deviation which is made by human operation and angle deviation caused by camera with different angle will affect the result. The impact of angle deviation is also larger than pixel deviation.
    In this research, the aerial system that was developed to determine the distance of a target is not perfect. It is affected by various condition of flight information, such as attitude of aircraft and GPS error, etc..., causing the results to be a little inaccurate. Consequently, there will be room for improvement in future study.

    中文摘要 I ABSTRACT II 誌謝 III CONTENTS IV LIST OF FIGURES VII LIST OF TABLES IX NOMENCLATURE X 1 INTRODUCTION 1 1.1 Introduction of Unmanned Aircraft System 1 1.2 Motivation and Objectives 2 1.3 Literature Review 4 1.4 Thesis Outline 9 2 METHODOLOGY 10 2.1 Global Positioning System 10 2.1.1 Introduction of GPS 11 2.1.2 GPS Signal Structure 11 2.1.3 GPS Errors and Biases 12 2.2 GPS Format 14 2.2.1 NEMA0183 14 2.2.2 GPGGA and GPRMC 16 2.3 Image Coordinate System 20 2.3.1 Two Dimensional Coordinate 20 2.3.2 Cartesian Coordinate 21 2.4 Vincenty’s Formulae 25 2.4.1 Introduction 25 2.4.2 Vincenty’s Formulae 27 3 SYSTEM OVERVIEW 30 3.1 Hardware System 34 3.1.1 Aircraft 34 3.1.2 Camera 39 3.1.3 Ardupilot Mega 2.5 41 3.1.4 Gimble 44 3.1.5 Access Point 45 3.1.6 Power over Ethernet 48 3.1.7 Antenna 49 3.1.8 3DR Radio Connection 51 3.2 Software System 53 3.2.1 Mission Planner 53 3.2.2 Air OS 56 4 EXPERIMENTAL RESULTS 57 4.1 Camera Analysis 57 4.1.1 Field of View 57 4.1.2 GPS Accuracy 58 4.1.3 Image Analysis 59 4.2 Indoor Experiment 61 4.2.1 Errors with Different Pixel 62 4.2.2 Pixel Deviation of Different Height 63 4.2.3 Angle Deviation of Different Height 66 4.3 Outdoor Experiment 68 4.3.1 Experiment Steps 75 4.3.2 Height Difference 76 4.3.3 Pixel Difference 80 5 CONCLUSIONS AND FUTURE WORK 82 5.1 Conclusions 82 5.2 Future Work 84 REFERENCES 85 APPENDIX 90

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