| 摘要: | 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。;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. |
