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| 研究生： |
陳奕憲 Chen, Yi-Hsien |
|---|---|
| 論文名稱： |
利用強健估測法和影像辨識方法進行無人飛機之路徑追蹤 Robust Estimation and Vision-Based Flight Path Tracking for Unmanned Aerial Vehicles |
| 指導教授： |
蕭飛賓
Hsiao, Fei-Bin |
| 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： | 2012 |
| 畢業學年度： | 100 |
| 語文別： | 英文 |
| 論文頁數： | 78 |
| 中文關鍵詞： | 無人飛機 、影像導航 、影像處理 、強健估測 |
| 外文關鍵詞： | Unmanned Aerial Vehicle (UAV), Vision-Based Navigation, Image processing, Robust estimation |
| 相關次數： | 點閱：96 下載：9 |
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固定翼之無人飛機在這十幾年之間應用非常廣泛，在軍方以及民間皆積極的開發和提升無人飛機的飛行性能和額外功能。CCD鏡頭為無人飛機進行偵察任務之標準配備，目的為利用空照影像來監測和偵察地面上的地貌以及生物活動。本論文之目的為使用影像處理和強健估測的方法進行影像分析，以提供無人飛機有用的飛行資訊。
本論文之研究目的在於提出一套利用影像辨識進行參考航向角估測的方法，並利用黑面琵鷺號和飛燕無人飛機加以實踐。本研究主要結合影像處理和強健估測兩種方法而成，並對此兩種方法進行詳細探討。本文利用所設計的方法開發一套能夠自動計算飛行參考航向角的程式，且能夠適應各種地形，如此無人飛機便可以在不同地形的條件下，依據自動計算出的航向角規劃路徑並飛行。最後利用軟體模擬以及實際飛行測試的方法，驗證無人飛機路徑追蹤的可行性。
In recent year, fixed-wing Unmanned Aerial Vehicle (UAV) system has been a popular platform for Intelligence, Reconnaissance and Surveillance (ISR) missions in both military and civil application. The UAV system equipped with a onboard CCD camera system to conduct such kind of mission. In order to provide better aerial images for missions such as road patrol or river patrol, the UAV have to track the ground path, terrain features or landscapes, It requires the remote sensing capability to provide sufficient navigation information from the onboard CCD camera images for the guidance and navigation of the UAV. Therefore, this thesis incorporates the image processing with the robust image estimation technique, called RANdom SAmple and Consensus (RANSAC) for the ground path tracking. The goal is to provide useful flight information for the UAV to perform the capability of vision-based ground-path tracking as part of the autonomous navigation.
The simulation results indicate that, the combination of techniques of image processing and RANSAC indeed provides an accurate reference heading for the UAV to conduct ground-path tracking flight. The real flight demonstrations were also made on two different UAV systems, Spoonbill and Swallow, UAV systems to ready verify the feasibility of the designed algorithm in flight path tracking using the onboard CCD camera system to conduct the vision based navigation.
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