無人飛機空中攝影是一項可用來記錄、監控地區地貌變化的技術。本篇論文主旨在於建立無人機空中攝影的基礎架構，包含飛行路徑規劃、攝影平台控制理論以及無人機自動導航系統，首先應用基因演算法於路徑規劃，以提供無人機飛行至攝影區域之最佳路徑；利用全球衛星系統及飛機姿態估算可得出飛機與攝影目標之相對位置關係，進而調整攝影平台角度以追蹤攝影目標；最後即可結合無人載具自動導航系統並執行空中攝影任務。

The UAV aerial photography is a developable technology to document and monitor local region. This thesis proposes the structure of aerial photography, including the flight path planning, camera gimbal control, and the UAV autopilot system. First, considering the safety of flight, the flight path planning is necessary. The Genetic Algorithm (GA) is a global search algorithm applied to the path planning with the suitable virtual flight map. Second, in order to control the camera gimbal to track the target, the information between UAV and tracking-target is important. By the GPS and the attitude estimation based on quaternion, the relationship between UAV and tracking-target can be constructed. Finally, a reliable autopilot control system can execute the tracking mission with the path planning by GA.

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