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研究生：	徐翊捷 Hsu, Yi-Chieh
論文名稱：	固定翼無人載具飛行訓練之空域評估探討 Airspace Assessment for Fixed-Wing UAV Flight Training in Taiwan
指導教授：	林清一 Lin, Chin-E
學位類別：	碩士 Master
系所名稱：	工學院 - 民航研究所 Institute of Civil Aviation
論文出版年：	2015
畢業學年度：	103
語文別：	英文
論文頁數：	65
中文關鍵詞：	墜毀機率、隔離區域、路徑規劃
外文關鍵詞：	Crashing Probability Density, Clearance Region, Path Planning
相關次數：	點閱：110 下載：5
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隨著無人載具技術的成熟發展，操作無人載具進行空拍、巡邏、監視等能力已不在僅侷限於軍事上之用途，拍攝電影、電視、巡邏住家或監看農作物等商業使用方面也更為廣泛，各領域前仆後繼地投入無人載具的應用與開發，開創了其前所未有的附加價值，同時也衍生出許多飛航安全及個人隱私等問題。美國聯邦航空總署 (Federal Aviation Authority, FAA)與美國運輸部（Department of Transportation, DOT）於今年一月公布了「無人機運行執法方針」（Law Enforcement Guidance for suspected unauthorized UAS Operations），此舉不難預見在不久的將來，無人載具必定會有一套嚴格的規範。本論文針對選定之固定翼無人載具，模擬其在無動力與無備用系統的輔助下墜落之狀況，配合現行的國際規範，以其墜毀機率之大小，找出最適當地隔離區域，並搭配路徑規劃之概念，繪出無人載具在大城市或村落間可行的飛行路徑，以提供未來法規訂定之參考。

In order to operate UAVs into National Airspace System (NAS), it must have a criterion to show that they can be operated at a satisfactory level of safety. For conventional aerial vehicles, their objects are based on operating with a reliable system. However with the Unmanned Aircraft Systems (UAS) development, a relatively unreliable system cannot provide the equivalent level of safety as the conventional aerial vehicles. Although the risk to populations or structures on the ground is sufficiently low, once any accidents occurring in high population or structural density region will cause catastrophic casualties to human life. This study uses a simulator to assess the crashing probability density and presents an adaptive set of the clearance region which can be used to flight path planning as UAS crossing a potentially high populated area. The intended use of the tool is discussed and the adaptive clearance region is assessed by a chosen UAV.

摘要 ...................................................... I
Abstract ................................................. II
誌謝 .................................................... III
List of Figures .......................................... VI
List of Tables ......................................... VIII
Abbreviations ............................................ IX
CHAPTER I INTRODUCTION .................................... 1
1.1 Motivation ............................................ 1
1.2 Literature Survey ..................................... 2
1.3 Main idea ............................................. 4
1.4 Thesis Outline ........................................ 5
CHAPTER II UAS DEVELOPMENT AND REGULATION ................. 7
2.1 UAV ................................................... 7
2.2 UAV Market ............................................ 8
2.3 ICAO Policy .......................................... 11
2.4 FAA Policy ........................................... 13
2.5 EASA Policy .......................................... 14
CHAPTER III DYNAMIC MODELING AND CRASH DENSITY PROBABILITY 16
3.1 Modeling ............................................. 16
3.2 Simulation ........................................... 20
3.3 UAV Fixed Frame ...................................... 24
3.4 Geocentric Frame ..................................... 26
3.5 UAV Crashing Probability Density ..................... 27
3.6 Remark ............................................... 28
CHAPTER IV FEASIBILITY AND RESULTS OF THE PROPOSED CPD MODEL .......................................................... 29
4.1 Simulation Results ................................... 29
4.2 Statistical Analysis Results ......................... 30
4.3 Speculation .......................................... 38
4.4 Flight Path Planning ................................. 39
4.5 Remark ............................................... 42
CHAPTER V CONCLUSION ..................................... 44
References ............................................... 46
Appendix ................................................. 50
                                    

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