本研究欲實際設計一套提升搭載相機雲台之無人載具航拍相片精度的方法，並且進行拍攝驗證，而其適用於一般航拍無人載具，可應用於災後救援、堪災、一般娛樂及3D建模等用途，因此建立一套修正航拍無人載具之成果的設計與實作流程。
在載具的部分，吾人採取自行設計四軸多旋翼機，掛載相機雲台，並且透過掛載的控制板紀錄安裝於相機雲台上之慣性感測值。在量測部分，本文採用RTK(Real Time Kinematic)系統，是一種高精度定位功能的差分測量技術，可以將傳統GPS量測誤差2m降至5cm以內。除了應用在觀測物的座標上，無人載具在執行飛行任務時，也運用了此系統進行精準的航路飛行。在飛行任務中，吾人加入了高度及飛行速度之航拍變因，得以建立在航拍任務中，以何種飛行條件下可以得到最佳精度改善。在影像處理的方面，吾人在此實驗中未加入控制點的設計，導入慣性感測元件測量值(Roll及Pitch兩個角度)，分析比較正射影像拼貼在修正前和修正後之影像精度的差異，並且得到了良好的精度改善，將其誤差距離值修正0.5m至15m不等，但由於飛行任務規劃範圍較小，較無法看出大面積航拍的情況中，長時間的飛行對於航拍的影響。

This thesis intends to actually design a method to improve the accuracy of photographs by UAV equipped with camera gimbal, and to verify it. This research proposed a method for general UAV, which can be applied to disaster relief, disaster, general entertainment and 3D mapping. For purposes to design and implementation processes for modifying the results of orthophotograph.
In the part of the UAV, we adopted a self-designed four-axis multi-rotor, mounted the camera gimbal, and recorded the inertial measurement unit mounted on the camera gimbal through the mounted control board. In the measurement part, this research adopts RTK (Real Time Kinematic) system, which is a differential measurement technology with high precision positioning function that can reduce the traditional GPS measurement error to 2 meters within 5 cm. In addition to being applied to the coordinates of the observations, the UAV also uses this system for precise route flight when performing missions. In the mission, we have added different altitude and the speed of the flight that can be found the best accuracy under which flight conditions, which can be improved. In terms of image processing, we did not add the control point design in this experiment and imported the inertial measurement unit measurement values (Roll angle and Pitch angle) to analyze and compare the image accuracy of the orthophotograph before and after correction. The difference, and got a good accuracy improvement, the error distance value is modified from 0.5 m to 15 m, but due to the small scope of the mission planning, it is impossible to see the large-area aerial photography in the case of long-term flight The impact of aerial photography.

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