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Unmanned Aerial Vehicle Trajectory Tracking Using Particle Filter
|關鍵字:||unmanned aerial vehicle;無人飛行載具;trajectory tracking;particle filter;軌跡追蹤;粒子濾波器||出版社:||電機工程學系所||引用:|| DOD Dictionary of Military Terms, http://www.dtic.mil/doctrine/jel/doddict/  Borkowski and Kazimierz, “Transformation of Geocentric to Geodetic Coordinates Without Approximations,” Astrophysics and Space Science 139: 1-4.  Peter H. Dana, “Global Positioning System Overview,” Department of Geography, University of Texas at Austin, 1994, http://www.colorado.edu/geography/gcraft/notes/gps/gps_f.html  B. Etkin and L. D. Reid, “Dynamics of Flight: Stability and Control,” John Wiley and Sons, New York, NY, third edition, 1996.  P. Zarafshan, S. B.Moosavian, S. A. A. Moosavian, M. Bahrami, “Optimal control of an Aerial Robot.” Advanced Intelligent Mechatronics International Conference, pp. 1284-1289, July 2008.  N. J. Gordon, D. J. Salmond, A. F. M. 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近年來無人飛行載具的應用日漸廣泛，因此軌跡追蹤也成為無人飛行載具的重要研究主題。本研究的目的在於設計一個追蹤無人飛行載具軌跡的方法。利用飛行模擬軟體X-Plane產生參考路徑，並記錄其飛行軌跡及資訊。而無人飛行載具的飛行動態則利用線性微分方程式，分別描述縱向(longitudinal)與橫向(lateral)的飛行動態，其動態方程式中的飛行穩定導係數(stability derivative)以及氣動力係數(aerodynamic coefficient)則由無人飛行載具與其機翼參數以及其飛行狀態推導得到。根據飛行狀態利用粒子濾波器(particle filter)估計其動態方程式的輸入控制項(control input)。分別針對起飛(takeoff)、水平飛行(level flight)和降落(landing)三部份進行模擬，並藉由模擬結果驗證提出之方法的可行性。
The objective of this thesis is to design algorithms for tracking the trajectory of UAV. A reference path is generated and recorded by flight simulator software, X-Plane, which provides the flight information to guide the UAV towards the target path. The flight motion is modeled with linear ordinary differential equations, considering both longitudinal and lateral motion. The stability derivatives and aerodynamic coefficients of dynamic equations are derived from flying situations and specifications of UAV and airfoil. Based on the flight dynamics, particle filter is applied to estimate the control inputs of dynamic equations. The proposed algorithm is verified through the simulation results for takeoff, level flight and landing, which demonstrate that the proposed scheme is feasible to make a UAV track a given flight trajectory.
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