Abstract
The latest development of a novel UAV system with autonomous flight, and with the capability of capturing images from assigned ground targets, has been successfully executed and is discussed in this paper. The UAV system developed contains two main parts as the core backbone to the whole system: the onboard system and the ground control station. The operation of the onboard system starts with measurements concerning the aircraft attitude, height, and 3-D position by Global Positioning System (GPS) receiver, air data sensor, and dynamic measurement unit. After trans mission of images and data from the sensors, processed by the PC-based onboard computer, the desired target position at which servos on the airplane can point a gimbaled CCD camera can be computed according to the control algorithm for autonomous flight and the auto-lockup system respectively. The ground control station consists of two notebook computers. One is used for the display of real-time images transmitted through a video trans mitter from the CCD camera; the other, the main control station, monitors the onboard system and uplinks of the mission commands through a wireless modem. The functions of the whole system are examined, implemented, and finally proved in a flight test with successful data analysis.
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