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https://nccur.lib.nccu.edu.tw/handle/140.119/147033
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| Title: | 無人機區域偵查及目標物件定位策略之技術研究
Technical Research on UAV Area Search and Object Geolocation Strategy |
| Authors: | 劉益誠
Liu, Yi-Chen |
| Contributors: | 劉吉軒
Liu, Jyi-Shane
劉益誠
Liu, Yi-Chen |
| Keywords: | 智慧無人機
區域偵查
平面視覺
距離預測
三角測量
地理座標投影
區域覆蓋路徑規劃
無人機定位策略
特徵比對
Smart UAV
Area Search
2D vision
Distance Estimation
Triangulation
Geographic Coordinate Projection
Coverage Path Planning
UAV Geolocation Strategy
Feature Matching |
| Date: | 2023 |
| Issue Date: | 2023-09-01 15:24:38 (UTC+8) |
| Abstract: | 無人機在現今產業發展快速，因其相較於需人員搭載的飛行器有更低的
製造成本、更高的機動性而且減少了駕駛人員傷亡的風險而大量應用於過
往需要人力的工作上。無人機發展初期主要應用於軍事用途上，但隨著技
術逐漸商用化無人機逐漸在民生用途上取得大量的發展，包含在工業、農
業、電影拍攝甚至是競技娛樂都出現了無人機的應用技術。除了無人機硬
體本身的發展外，影像處理的技術發展使無人機能在更多應用場景發揮價
值，尤其是平面視覺的影像處理技術使無人機能夠以平面視覺的相機進行
更多的任務，特別是對於重量有限制而無法搭載大量感測器的微型無人機。
對於微型無人機來說平面相機、GPS、指北針與高度計是常備的感測
器，因此本研究對於偵查區域內目標物件定位任務以微型無人機常備的感
測器發展三項定位策略來達成不同任務環境下的目標偵查與定位。其中，
多點平均定位策略以單目視覺定位模組為主，搭配平面視覺影像及感測器
數據來達成對地上目標物件的定位，並利用了無人機執行任務的連續性對
感測器資料進行校正進而提升定位結果的可靠度。為了降低感測器的依賴
程度，本研究以三角計算的方式發展三角測量定位策略，成功降低感測器
的依賴度以及高度對於定位準確度的影響。影像比對定位策略則是以特徵
比對技術為基礎來達成純影像的定位任務，使無人機在感測器失效的任務
環境下仍能夠達成定位任務。
With the rapid development of unmanned aerial vehicle technology and it’s
high mobility, low risk for drone pilot.Unmanned Aerial Vehicle have been used
in a variety of applications.In early stage, UAV was mainly used for military
purposes.But, with UAV technology became more and more prevalent, UAV widely
applied on Manufacturing industry, agriculture and film industry.Beside the UAV
technology, the development of image processing also improve development of
UAV application.And 2D-vision-based image processing was important especially
for micro UAV because of it’s weight limit.
For micro UAV, the commonly equipped sensors are a camera, GPS, compass
and altimeter. Therefore, this research develop three geolocation strategies using
the sensors commonly found on micro drones to achieve target detection and
positioning in different mission environments. Among them, the multi-point
averaging geolocation strategy focuses on the monocular visual positioning module,
using plane visual images and sensor data to locate ground target.This strategy
also calibrate the sensor data to improve the reliability of the positioning results.
To reduce sensor dependency, a triangulation geolocation strategy was developed
using trigonometric calculations, successfully reducing the reliance on sensors and
mitigating the impact of altitude on positioning accuracy. The image matching
geolocation strategy is based on feature matching techniques to achieve pure imagebased
positioning tasks, enabling drones to perform positioning tasks even in
mission environments where sensors may fail. |
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| Description: | 碩士
國立政治大學
資訊科學系
110753136 |
| Source URI: | http://thesis.lib.nccu.edu.tw/record/#G0110753136 |
| Data Type: | thesis |
| Appears in Collections: | [資訊科學系] 學位論文
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