由於UAV的發展逐漸成熟，其重要性也變得無可取代，本研究建立出第一人稱的直覺操控環境，藉由平衡環系統即時反應UAV飛行時的姿態，使人們在操控UAV的同時彷彿能身歷其境地感受到UAV所有狀態，操控者更能直覺做出適當的反應及決策。在本系統中，UAV及平衡環系統各具備獨立的姿態控制器，兩者皆追蹤相同的姿態命令，為了追蹤姿態命令的過程中能同時使UAV及平衡環兩系統相互保持同步，在兩者間的運動中增加一牽制力，此牽制力可保持兩系統動作一致。如此可限制UAV的姿態變化率且讓平衡環有效追縱UAV的姿態，同時避免運動平台產生過高的姿態變化率造成人體不適。實驗結果證明此姿態同步平台可使平衡環運動平台及UAV保持相互同步運動。

Since UAV has developed so maturely, UAV become important and irreplaceable today. In order to control UAV more intuitively, this project provides the first-person control environment. In this environment, people can feel attitude state of flying UAV while they are controlling. We use gimbals system as the attitude-synchronization motion platform which is enable to perform attitude state of UAV immediately. Such the man-machine interact can lead operator to make some decisions and response directly while controlling UAV. Gimbals motion platform and UAV has their own Attitude-controller to follow attitude command. Two systems have to be attitude-synchronization while tracking attitude command. So we add the curbing force between two systems while they are tracking the attitude command. Let the curbing force to maintain attitude of both systems together. This strategy will not only make gimbals system tracking UAV gimbals effectively, but also limit the speed of the UAV system to avoid creating high speed of movement which may lead human discomfort.

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