本研究主要方向是應用GPS於CCD鏡頭自動追蹤預定目標，採用GPS接收機為觀測或測量的基礎，透過數位訊號處理，搭配控制攝影機構與飛行載具，進而達到空中監控系統整合平台的開發。無人飛行載具利用GPS接收器接收全球衛星導航訊號，及載具上的量測設備，取得目前所在位置之資訊；經由RS232訊號接收至訊號處理器DSP，將訊號擷取出目前所在方位後，與所要追蹤的固定座標做運算得出結果，然後傳送適當的PWM訊號給予CCD鏡頭機構上的伺服馬達，馬達可依訊號轉動至運算後的轉動方位作為持續追蹤的動作，進而使CCD傳輸影像持續對準目標物，以便讓地面站觀測者也能藉由無人飛機來追蹤觀測目標物。
整體架構的機載系統主要包含dsPIC單晶片為設計核心，搭配GPS接收機及伺服馬達與CCD影像傳輸系統等來執行，而飛控系統是由ArduPilot來做控制。ArduPilot需要搭配ArduPilotMega與IMU Shield及其周邊各式感測元件，透過Mission Planner軟體來提供整體的飛航校正與控制，利用通訊設備傳送資料回地面站，進行所要的觀測。整體系統而言，本研究經實際無人飛機飛行測試後，就地面站獲得之影像是否能夠對準目標物來定義期可追蹤性，經分析飛行任務後，其追蹤性能夠達到95%以上，使地面站能進行觀測之研究目標。
本研究中，探討飛行載具上的CCD自動追蹤系統，其各種姿態的飛行資訊所造成的影響，如瞬間側風影響加速度計及陀螺儀等反應速度，致使影像會有些許偏差，以致有約5%時間未能對影像有效追蹤，仍有需要改善的地方，仍待未來繼續努力以改進其可追蹤性。

This study targets at the application of GPS in the CCD camera automatically tracking using the GPS receiver as the basis for observations. Through digital signal processing with CCD control mechanism as well as unmanned aerial vehicles, this study can further achieves development on platform of air monitoring system integration. As the current location information can be obtained by using GPS receiver on unmanned aerial vehicle through RS232 signal transmission to the signal processor DSP and the measurement equipment on the vehicle. The output for a PWM servo motor is calculated from its current positions and the location of target fixed coordinates to move the mechanism through them motor CCD camera to keep tracking of the action. Thereby it enables the CCD image transmitted to constantly target at object, so that the ground-based station can observe the target constantly.
The overall framework of the airborne system mainly consists of dsPIC single-chip design, with a GPS receiver and servo motor as well as CCD image transmission system. And flight control system is made by the ArduPilot which needs to match with IMU shield, ArduPilotMega and other kinds of peripheral sensing element. Through comprehensive flight calibration and control provided by the Mission Planner software, communications equipment is used to send data back to the ground station for the desired observation. After the flight test by a quadrocopter with this tracking system, and trackability defined as shown on the screen of the image, the overall system trackability can approach more than 95%. It’s a successful system in tracking the target in a fixed position and transmission the ground station for observer.
In this study, the CCD automatic tracking system on unmanned aerial vehicle is implemented though not perfect, and it is impacted from various conditions of flight information, such as a gust or wind shear which may influence the accelerometers and gyroscopes, etc., so that the resulting image will be a little biased. Consequently, there are still rooms for improvement in future study.

1. 傅景隆, "應用單晶片GPS接收器實現無人飛行載具之導航系統," 國立成功大學航空太空工程學系碩士論文, 2002。
2. 劉宗亮, "無人飛行載具目標鎖定光學遙測系統之研發," 國立成功大學航空太空工程學系碩士論文, 2004。
3. 陳俊志, "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," 國立成功大學航空太空工程學系碩士論文, 2006。
4. Richard W. Cannata, Steven G. Blask, John A. Van Workum, Mubarak Shah, Autonomous Video Registration Using Sensor Model Parameter Adjustments, AIPR 2000, pp.215-222, 2000.
5. 劉榮唐, "遙控飛行平台與偵照鎖定系統之研發," 逢甲大學航太與系統工程學系碩士論文, 2010。
6. Daniel P. Raymer, Aircraft Design: A Conceptual Approach, AIAA Education Series, 1992.
7. Danko Antolovic, Development of a Real-Time Vision System for an Autonomous Model Airplane, Master thesis, Department of Computer Science, Indiana University, October , 2001.
8. 鄭憲君, "以GPS 速度為基礎之姿態估測及其應用於無人直昇機系統," 國立成功大學航空太空工程學系博士論文, 2008。
9. 鄭宇翔, "以影像辨識方法進行無人飛機之路徑追蹤," 國立成功大學航空太空工程學系碩士論文, 2008。
10. 劉祐男, "基於影像辨識之移動目標物追蹤與估測應用於無人直昇機," 國立成功大學航空太空工程學系碩士論文, 2009。
11. 李孟澤, "以系統工程架構開發具自主飛行能力與地面監控功能的空中無人載具系統," 國立成功大學航空太空工程學系博士論文, 2007。
12. 曾庭鴻, "利用 GPS 鑑別加速儀的速度誤差模式," 國立成功大學航空太空工程學系碩士論文, 2002。
13. M. de Fátima Bento, "Unmanned Air Vehicles: An Overview," Inside GNSS, Vol. January/February, pp. 54–61, 2008.
14. 鄭筱親, "以情境感知技術提昇全球衛星定位系統精準度之研究," 國立中正大學通訊工程學系碩士論文, 2007。
15. 鄭宗建, "在嵌入式平台上整合全球定位系統與區域定位機制來實現室外定位服務," 國立中正大學通訊工程學系碩士論文, 2010。
16. 楊聿銘, "利用 GPS 建立自動航空照相," 國立成功大學航空太空工程學系碩士論文, 2002。
17. 許東榮, "應用單晶片DSP、FPG及GPS模組實現無人飛行載具之自動導航駕駛系統," 國立成功大學航空太空工程學系碩士論文, 2003。
18. 蔡幸其, "無人飛行載具地面動態追蹤與收訊平台之建構," 逢甲大學航太與系統工程學系碩士論文, 2008。
19. John H. Blakelock, Automatic Control of Aircraft and Missiles, John Wiley & Sons, 1992.
20. Mohinder S. Grewal, Lawrence R. Weill. Angus P. Andrews, Global Positoning Systems, Inertial Navigation, and Integration, John Wiley & Sons, 2001.
21. Robert C.Nelon, Flight Stability and Automatic Control, Mc Graw Hill, 1998.
22. F.B. Hsiao, and K.J. Fang, Real Time Attitude Determination of Remotely Piloted Vehicle Using GPS Doppler Velocity Measurements, Transactions of The Aeronautical and Astronautical Society of Republic of China, Vol. 34, No. 2,pp. 135-142, Sep., 2002.
23. V. Chandrasekhar, A. E. Zhi, W. K. G. Seah and A. P. Venkatesh, Experimental Analysis of Area Localization Scheme for Sensor Networks, Wireless Communications and Networking Conference, March 2007, pp. 11-15, 2007.
24. 黃國禎, "利用低空飛行器GPS 羅盤定位和CCD 攝影機技術對地面目標物方位估算," 國立中山大學電機工程學系碩士在職專班碩士論文, 2004。
25. F. B. Hsiao, H. K. Tenn, S. S. Jan, F. Y. Hsiao, J. C. Juang, Y. C. Lai, W. L. Chan,S. Y. Hsieh, C. C. Chen, and L. C. Tseng, An Unmanned Helicopter Vehicle System Development, in Twelfth Australian International Aerospace Congress, March 2007.
26. H. K. Tenn, C. H. Lin, L. C. Tseng, Y. H. Cheng, and F. B. Hsiao, The Development of H-LING Unmanned Helicopter System, in CAFA Conference, Kaohsiung, Taiwan, October 2007.
27. 紀智倫, "全球衛星定位系統之多功用應用程式介面設計, " 國立台灣科技大學電子工程學系碩士論文, 2004。
28. 安守中, GPS 全球衛星定位系統入門, 全華科技圖書股份有限公司, 2012。
29. 莊智清, 黃國興, 電子導航, 全華科技圖書股份有限公司, 2003。
30. 黃俊能, GPS 全球衛星定位系統原理與應用, 全華科技圖書股份有限公司, 2007。
31. 曾百由, 單晶片dsPIC數位控制器原理與應用, 宏有圖書開發股份有限公司, 2009。
32. Qgroundcontrol-http://qgroundcontrol.org/mavlink/start
33. Draganfly-http://www.rctoys.com/
34. Micromo-http://www.micromo.com/motor-calculations.aspx
35. Heliflightcenter - http://www.heliflightcenter.com/default.asp
36. Ardupilot-mega - https://code.google.com/p/ardupilot-mega/