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研究生：	黃秋蓉 Huang, Chiu-Jung
論文名稱：	應用即時動態定位系統於無人飛機艦載降落之可行性評估分析 Analysis of the Availability of Real-Time Kinematic Data for Unmanned Aerial Vehicle Shipboard Landing
指導教授：	詹劭勳 Jan, Shau-Shiun
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：	64
中文關鍵詞：	即時動態定位系統、無人飛行載具、艦載降落、整合模擬
外文關鍵詞：	Real-time kinematics (RTK), Unmanned Aerial Vehicle (UAV), Shipboard landing, Software-in-the-loop
相關次數：	點閱：125 下載：11
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臺灣位於環太平洋島鏈上，四面環海地形上又多高山，對於無人飛行載具的需求極高，若是能夠結合無人飛行載具與小型巡航艦，整合無人飛行載具自主彈射、任務、回收，則勢必提升運作效能，並且提升國軍情報蒐集能力以及遠程打擊能力，本篇論文即針對開發利用即時動態定位系統(Real-Time Kinematic)作為無人飛行載具用之掛繩艦載回收之可行性進行評估，由於艦載降落設備發展困難，資料採集不便，本文設計透過各種動態定位實驗分析適合應用於艦載降落之操作模式，並且針對載具在降落的過程中可能遭遇之環境影響變化因素導致共視衛星顆數不足、訊號不穩定、海象因素等之影響，透過不同的模擬實驗分析各種情況下使用即時動態定位系統作為導引之效能，同時為利於後續開發艦載降落程序，本論文開發利用軟體迴路模擬環境，包含載具控制律與導引律，以及海浪環境參數模擬，並結合即時動態定位導引資訊完成一完整之模擬環境，用以作為持續發展的模擬雛形，後續研發之控制律、導引參數等都能夠匯入該模擬環境提供初步設計的模擬和驗證。

This research investigates the availability of real-time kinematic (RTK) satellite navigation for unmanned aerial vehicle (UAV) shipboard landings. The combination of UAVs and ships can enhance the efficiency of intelligence gathering and surveillance and improves the long-range strike capability of the air force. However, the limited shipboard landing area as well as interference due to wind disturbance and wave motion make the shipboard landing of UAVs extremely difficult. In order to successfully land aircraft in such a challenging environment, RTK satellite navigation, which is a high-precision navigation system for UAVs, is applied in this work. RTK satellite navigation is a positioning enhancement technique that uses differential carrier-phase measurements. Various experiments were conducted to verify RTK satellite navigation performance for shipboard landing. The experimental results were using for a self-developed low-cost simulation tool.
Statistical analysis of RTK positioning availability was then conducted.

The developed simulation tool, a software-in-the-loop (SIL) system, for UAV shipboard landing simulates the entire landing process, including the UAV flight path, UAV attitude, wave motion, and RTK navigational results. The UAV used in the SIL system is the SP.X-6 aircraft, which was developed by the Remotely Piloted Vehicle & Micro Satellite Research Laboratory at National Cheng Kung University for a cross-sea flight project. For the wave motion simulation, the ITTC two-parameter spectrum is used as the power spectrum of the sea waves to be simulated, and all the harmonic waves are synthesized based on the Longuet-Higgins model in the time domain. Finally, the RTK positioning results are used in the landing process, which has two modes, namely the RTK operational mode and the RTK failure mode. The actual RTK positioning results are derived for experiments under various configurations (static, dynamic, and limited number of common-view satellites). The availability analysis results will be useful for RTK navigation system design for UAV shipboard landings.

摘要.................................................IV
ABSTRACT............................................VI
EXTENDED CHINESE ABSTRACT...........................VIII
ACKNOWLEDGEMENTS....................................XV
CONTENTS............................................XVI
LIST OF TABLES......................................XIX
LIST OF FIGURES.....................................XX
NOMENCLATURE........................................XXII
CHAPTER 1...........................................1
INTRODUCTION AND OVERVIEW...........................1
1.1 Background......................................2
1.2 Motivations and Objectives......................3
1.3 Layout of Thesis................................3
CHAPTER 2...........................................4
GLOBAL POSITIONING SYSTEM AND REAL-TIME KINEMATICS..4
2.1 GPS and DGPS....................................4
2.2 Real-Time Kinematics Theory and Architecture....5
2.2.1 Station Configurations........................8
2.3 Analysis Method.................................10
CHAPTER 3...........................................13
POSITIONING PERFORMANCE.............................13
3.1 Static Experiment...............................13
3.2 Dynamic Experiments.............................16
3.2.1 Standard RTK..................................17
3.2.2 Heading RTK...................................20
3.2.3 Moving Base RTK...............................22
3.3 Relative RTK....................................24
3.4 Conclusions.....................................27
CHAPTER 4...........................................29
POSSIBLE SITUATIONS DURING LANDING PROCESS..........29
4.1 Common-view Satellites..........................29
4.2 Loss of Data Link...............................32
4.3 Sea State Variation.............................34
4.4 Data Rate Analysis..............................37
4.5 Conclusions.....................................40
CHAPTER 5...........................................42
INTEGRATED SIMULATIONS..............................42
5.1 Integrated Simulation Overview..................42
5.2 Aircraft Simulation.............................43
5.2.1 Aircraft Dynamics and Linear Quadratic Gaussian Regulator...........................................44
5.2.2 Guidance Law..................................46
5.3 Ship Motion Simulation..........................48
5.3.1 Longuet-Higgins Model.........................49
5.3.2 ITTC Model....................................51
5.4 Integrated Simulation Graphical User Interface..54
CHAPTER 6...........................................61
CONCLUSIONS AND FUTURE WORKS........................61
6.1 Summary of Contributions........................61
6.2 Future Work.....................................62
REFERENCES..........................................63
                                    

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校內：2019-06-11公開
校外：2019-06-11公開

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