博碩士論文 111523053 詳細資訊




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姓名 雷至誠(Chih-Cheng Lei)  查詢紙本館藏   畢業系所 通訊工程學系
論文名稱 實時無人機追蹤系統設計與實現
(Design and Implementation of a Real-Time UAV Tracking System)
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摘要(中) 近年來無人機(Unmanned Aerial Vehicle. UAV)應用技術逐漸在不同領域上被廣泛使用,不僅僅侷限於早期開發應用於軍事用途,隨著科技的進步發展、時空背景的演進,現今無人機可以應用於監測巡視各式環境,它可以攜帶各類感測器收集地面上的數據,用於監測分析地面狀況,亦可以攜帶各式設備應用於不同產業,例如:農業產業的農藥噴灑及灌溉、自動化物流運輸產業應用、城市規劃及災害救援任務、多媒體及娛樂領域中影像製作及特技表演......等,在各領域中減少人力成本及增加整體工作效率。然而隨著無人機應用增加,對於未遵守相關法規,擅自進入他人特定區域之空域,會對於他人的生命安全、隱私及公共秩序造成威脅,因此如何防制非法入侵之無人機成為了不可忽視的問題。本篇論文研究一套低成本、高精確度的無人機實時追縱系統開發,利用工研院自主研發之軟體定義無線電(Software-Defined Radio, SDR)平台加上均勻分布線性陣列天線(Uniform Linear Array, ULA)作為Rx,再藉由無人機射頻偵測結合波束成型(Beamforming)技術之到達角(Direction of Arrival, DOA)估計演算法以及自適應追蹤演算法,估計無人機訊號入射角度後並加以實時追蹤目標無人機。
摘要(英) In recent years, UAV (Unmanned Aerial Vehicle) technology has been increasingly applied across various fields, extending beyond its initial military applications. With advancements in technology and the evolution of temporal and spatial contexts, UAVs are now utilized for monitoring and surveying diverse environments. They can be equipped with various sensors to collect ground data for monitoring and analysis surface conditions. Additionally, UAVs can also be equipped with different devices for use in industries such as agriculture, such as pesticide spraying and irrigation in agriculture, automated logistics and transportation, urban planning, disaster relief missions, multimedia and entertainment (e.g., film production and stunt performances, among others. These applications help reduce labor costs and enhance overall work efficiency.

However, with the increase in UAV applications, there arises a significant issue of UAVs violating regulations by entering restricted airspace, posing threats to personal safety, privacy, and public order. Therefore, preventing illegal UAV intrusions has become an essential concern.

This thesis studies the development of a low-cost, high-accuracy real-time UAV tracking system. The system utilizes the SDR (Software-Defined Radio) platform developed by the Industrial Technology Research Institute (ITRI), combined with a Uniform Linear Array (ULA) antenna as the receiving end. By employing RF (Radio Frequency) detection of UAVs and integrating beamforming technology with Direction of arrival (DOA) estimation algorithms, the system estimates the incident angle of UAV signals and tracks the target UAV in real-time.
關鍵字(中) ★ 無人機
★ 波束成形
★ 波束搜索
★ 到達角估計
★ 單脈衝雷達
★ 無跡卡曼濾波器
★ 軟體定義無線電
關鍵字(英) ★ UAV
★ Beamforming
★ Beam Searching
★ DOA Estimation
★ Monopulse
★ UKF
★ SDR
論文目次 中文摘要......i
英文摘要......iii
致謝詞......V
圖目錄......ii
表目錄......iii
第1章序論......1
1.1 簡介......2
1.2 UAV偵測方法......2
1.2.1 雷達訊號偵測......2
1.2.2 電子訊號偵測......2
1.2.3 視覺偵測......3
1.2.4 熱像儀偵測.....3.
1.2.5 聲音偵測......3
1.3 系統實現方式......4
第2章系統模型......5
2.1 整體系統架構......5
2.2 整體系統流程架構......6
2.3 均勻分布線性天線陣列及訊號模型......11
2.4 波束成型(Beamforming)技術......12
第3章系統設計......15
3.1 Frequency Searching module......15
3.1.1 RF Signal Reception module......17
3.1.2 Full Searching and Beamforming module......21
3.2 UAV Tracking module......24
3.2.1 UAV Preamble Detection module......25
3.2.2 Signal Preprocessing module......27
3.2.3 DOA Estimation module......29
3.2.4 DOA Compensation module......36
第4章系統效能模擬結果分析......37
4.1 The Impact of System FOV on Performance......38
4.2 The Impact of Different T_UT on System......40
4.3 The Impact of Different Snapshots on System......43
4.4 The Impact of Different SINR on System......46
第5章實時無人機追蹤系統模擬與實現結果......48
5.1 MATLAB監控介面設計......48
5.2 模擬結果-MATLAB環境......50
5.3 實現結果-軟體定義無線電平台環境......56
第六章結論與未來展望......65
參考文獻......67
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指導教授 張大中(Dah-Chung Chang) 審核日期 2025-1-22
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