本論文以GPS 量得之速度為基礎，進行無人直昇機之姿態估測，並提出此姿態之應用。GPS在傳統上提供位置導航資訊，亦有以多天線GPS 解算載波相位差求得載具姿態之方法。本研究則以單一天線之GPS 接收器所得之速度資訊，透過卡爾曼濾波器推估載具加速度，進而推得直昇機主旋翼推力方向，由此可推斷直昇機之滾轉與俯仰姿態。此姿態稱之為直昇機之虛擬姿態，與固定翼之虛擬姿態之推導不同，其結果亦無法交換使用。由於虛擬姿態的低頻寬特性，因此加入陀螺儀之角速率資訊，以互補濾波器合成一較佳之姿態解。此姿態解可應用於無人直昇機之停懸控制，以及慣性姿態量測系統於振動環境下之性能的檢測上。
為探討直昇機虛擬姿態應用於停懸控制的可行性，本研究透過飛行實驗數據，建立一模糊理論控制器。此過程提供一個模糊規則庫建立的參考方法與流程，可供日後類似的、由實驗數據建立規則庫的參考。建立該模糊控制器之後，透過與飛行員遙控訊號之比對，確認該模糊控制器的正確性。以此控制器，給予互補濾波之後的虛擬姿態以及陀螺儀所得之角速率，可輸出與飛行員遙控訊號相近的控制量，顯示直昇機虛擬姿態於停懸控制上的可行性。
本研究實驗所需之無人直昇機系統，由空中機載部份與地面控制站台組成。透過多次反覆測試驗證，將各次系統予以整合，得到完整之無人直昇機系統。透過地面測試確認全系統運作正常之後，進行空中飛行測試，完成全系統驗證。此系統至今已進行多次實驗，收集研究所需數據，並提供未來一個控制、導引導航之研究測試平台。

This study employs the GPS velocity measurement as a base to determine the attitude of an unmanned helicopter. The determined attitude has been proposed for several applications. Conventionally, the single antenna GPS receiver offers only the positioning information for navigation. There have been methods based on multiple antennae configuration for determining the vehicle’s attitude by solving the difference of carrier phase between each antenna. The study herein utilizes the velocity information from single antenna GPS receiver to estimate the accelerations by Kalman filtering. Then, the direction of the thrust vector generated by the main rotor can be obtained, which indicates the rolling and pitching attitudes of the helicopter. These attitudes are called the pseudo attitudes of the helicopter, which in nature is different from the one of a fixed-wing aircraft. These two kinds of pseudo attitudes are not applicable to each other. Due to the low-bandwidth characteristics of the pseudo attitude, the angular rates from the gyroscopes have been added and blended by the proposed complementary filter to generate a better result. The complemented attitude can be applied to the hovering control of the helicopter, and also useful in examining the performance of the inertial measurement sensors under vibration conditions.
To study the feasibility of utilizing the pseudo attitude in the autonomous hovering control, a fuzzy logic controller (FLC) has been developed with flight data. The method and the procedure of building the rule base using the input-output data have been proposed in the study, and it offers a useful guide to other similar design in the future. The designed FLC has been verified by comparing its outputs with the pilot’s control signals. Besides, the complemented pseudo attitude has been used as the control inputs of the FLC, and again the corresponding outputs have been compared with the pilot’s control signals to demonstrate the feasibility of using the pseudo attitude for hovering control.
The unmanned helicopter system used for flight testing consists of the onboard part and the ground control station. There have been many tests and verifications during the development of the entire system. The subsystems have been developed and then been integrated into the overall completed system. The unmanned helicopter system has been tested on ground and then in flight to ensure the reliability of the system. The system has been flown for many times to gather data for researches and it can serve as a platform for studies such as control, guidance, and navigation in the future.

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