本文著重於無人飛行載具(Unmanned Aerial Vehicle, UAV)之導航與導引系統設計。在這個研究中無人飛行載具是使用90級遙控直升機加以改裝而成，基於遙控直升機之系統動態為非線性模型，因此導航與導引系統設計比起傳統定翼無人飛行載具也有較高的要求。

一般而言全球衛星定位系統(Global Positioning System, GPS)提供了使用者位置、速度以及時間等資訊。而慣性量測元件(Inertial Measurement Unit, IMU)提供使用者加速度與角速度等資訊，如果再將慣性量測系統之輸出配合導航方程式之計算那麼將能提供使用者速度與位置之資訊，並可稱做慣性導航系統。這兩個導航系統對於無人飛行載具皆有其存在的必要性，同時各自擁有其優缺點，藉由整合這兩個主要的導航系統可以達到互補之作用同時增進導航與導引系統之效能。

這篇論文的研究在於設計一導航與導引系統提供無人飛行直升機使用。本文中藉由擴展式卡爾曼濾波器(Extended Kalman Filter, EKF)將微機電技術製造之慣性量測元件與全球衛星定位系統利用鬆散式整合來達到導航與導引系統設計之目標。此一系統提供比慣性量測元件與全球衛星定位系統個別獨立運作更高的效能同時也能在不同的無人載具上做應用。

This paper will focus on the design of navigation and guidance system of an UAV which is based on a Raptor 90 RC helicopter for auto hovering and target tracking mission. Considering the nonlinear model of a RC helicopter, its navigation and guidance system will be higher bandwidth than that of a fix-wing airplane to meet the requirements.

Global Positioning System (GPS) is a position fixing system, basically provide user navigation solutions; a GPS receiver can provide vehicle position, velocity and time. And a strapdown inertial measurement unit (IMU) can provide acceleration and angular rate, these measurements with navigation equations can provide user position and velocity which is called inertial navigation system (INS) and it’s a dead reckoning system. Typically, each system has its disadvantages ,and by integrating GPS and IMU we can get the advantages from both systems to gain the improvement in navigation and guidance performance.

The contribution of this research is the design of a navigation and guidance system for unmanned aerial helicopter (UAH) which uses a loosely-coupled architecture to integrate a Micro-Electro-Micro-Systems (MEMS) IMU and GPS with an Extended Kalman Filter (EKF). Under this architecture, the navigation and guidance system can provide better performance than GPS or IMU works alone. It can be used for other kinds of unmanned vehicles like ground vehicle or airplane.

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