M377016 五、新型說明： 【新型所屬之技術領域】 本創作係關於一種無人飛行載具遙感探測系統，特別係指一 種可供執行空拍或定位任務之無人飛行載具遙感探測系統。 【先前技術】 以往從事所謂實地拍攝的空拍任務時，大多以租借大型飛行 載具（如飛機或直昇機）來進行，除了需要花費龐大的經費去支付油 料費與租借費外，相關攝影人員必須擔負著飛行安全的風險，即 便現在飛行載具技術已十分成熟，但仍無法百分之百保證乘客的 安全。 因此，便有相關人員開發出一種將拍攝儀器設置於大型的飛 行載具上（如機腹下方的位置），根據飛行載具飛行運動和傾斜的角 度來對應控制拍攝儀器鏡頭所攝影的角度，讓拍攝儀器能自行拍 攝所需的地理資訊。 然而，隨著小型的無人飛行載具技術越來越成熟，已有逐漸 取代傳統需要飛行員駕駛的大型飛行載具所執行任務的趨勢，因 為除了可以降低飛行任務的成本之外，利用無人飛行載具進入危 險的空域，亦可避免人員的傷亡。 但是由於無人飛行載具的體積較小，很容易受到飛行時環境 的影響（如氣流干擾），導致無人飛行載具在空中航行時有偏離航道 的情況，而這樣的現象對於利用無人載具進行空拍任務卻產生了 些許的瑕疵，因為，唯有在最穩定的飛行情況下，才有最佳的攝 影效果，方可以最精確的地理影像資訊提供後續研究分析作業。 因此，在外在環境因素很難以人為的方式進行克服及小型無 3 M377016 月〇日雙正 • 人飛行載具先天的缺懷下，要設計出-個較佳的無人飛 . 攝儀器，來取得具有最佳攝影效果的影像資訊，一直是執行空拍 任務相關廠商努力研發的目標。 【新型内容】 本創作人有鑑於上述傳統無人飛行載具因易受到環境干擾而 降低拍㈣果品質的缺憾，乃積極著手從事研究，經過不斷的試 驗及努力’終於開發出本創作。 •本創作之主睪目的在於提供一種可供執行空拍或定位任務之 無人飛行載具遙感探測系統，透過取得航行拍攝狀態的資訊，來 幫助後續研究分析拍攝結果的作業，能獲得較精確和較佳的地理 影像資訊。 為了達到上述創作目的，本創作之無人飛行载具遙感探測系 統，係包括： -電源模組，係用於提供該無人飛行載具遙感探測系統運作 時所需之電力； _ 帛星/L位模組’其至少具有__天線並連接於該電源模組， 該天線透過接收外部的全球衛星系統（G1〇bal p〇siti〇ning System， .GPS)中衛星所發送的訊號來取得該無人騎載具遙感探測系統目 前之經度、緯度、平均海拔高度和精確的衛星時間； 一遙感探測模組，係連接於該電源模組並透過遙感探測 (Remote Sensing)技術來取得地面的影像資訊； -慣性導航儀’係連接於該電源模組，並依據該衛星定位模 組所接收之衛星時間來同步量測該遙感探測模組於探測時的外方 位姿態資訊，其中，該外方位姿態資訊分別包括有磁方位角度值、 4 M377016 俯仰角度值和滾轉角度值；及M377016 V. New description: [New technical field] This creation is about a remote sensing detection system for unmanned aerial vehicles, especially a remote sensing detection system for unmanned aerial vehicles that can perform aerial photography or positioning tasks. [Prior Art] In the past, the aerial photography tasks of so-called field shooting were mostly carried out by renting large-scale flying vehicles (such as airplanes or helicopters). In addition to the huge expenses required to pay for fuel and rental fees, the relevant photographers must With the risk of flight safety, even if the flying vehicle technology is very mature, it is still impossible to guarantee the safety of passengers. Therefore, some people have developed a kind of shooting instrument on a large flying vehicle (such as the position below the belly), according to the flying vehicle flying motion and the angle of the tilt to control the angle of the camera lens, Let the shooting instrument shoot the required geographic information by itself. However, as small unmanned aerial vehicle technology becomes more and more mature, there is a tendency to gradually replace the tasks performed by large-scale flying vehicles that traditionally require pilots to drive, because in addition to reducing the cost of missions, unmanned aerial vehicles are utilized. With dangerous airspace, you can also avoid casualties. However, due to the small size of the unmanned aerial vehicle, it is easily affected by the flight environment (such as airflow interference), which causes the unmanned aerial vehicle to deviate from the navigation channel during the air navigation, and this phenomenon is carried out by using the unmanned vehicle. The aerial task has produced a little embarrassment, because only the most stable flight conditions, the best photographic effect, in order to provide the most accurate geographic image information for subsequent research and analysis. Therefore, it is difficult to overcome the external environmental factors in an artificial way and to make a small unmanned flight. In order to design a better unmanned flight, take the instrument to obtain The image information with the best photographic effect has always been the goal of the manufacturers involved in the implementation of the aerial photography task. [New content] In view of the above-mentioned traditional unmanned aerial vehicle, the above-mentioned traditional unmanned aerial vehicle has been reduced in the quality of the film (four) because of its vulnerability to environmental disturbances. It is actively engaged in research, and after continuous trials and efforts, it has finally developed this creation. • The main purpose of this creation is to provide a remote sensing detection system for unmanned aerial vehicles that can perform aerial photography or positioning tasks. By obtaining information on the state of navigation, it can help the subsequent research and analysis of the results of the shooting, and obtain more accurate and Better geographic image information. In order to achieve the above-mentioned creative purposes, the unmanned aerial vehicle remote sensing detection system of the present invention comprises: - a power module for providing power required for the operation of the unmanned aerial vehicle remote sensing detection system; _ Comet/L position The module has at least an __ antenna connected to the power module, and the antenna obtains the unmanned signal by receiving a signal transmitted by a satellite in an external global satellite system (G1〇bal p〇siti〇ning System, .GPS) The current longitude, latitude, average altitude and precise satellite time of the vehicle remote sensing detection system; a remote sensing detection module is connected to the power module and obtains image information of the ground through remote sensing detection (Remote Sensing) technology; - an inertial navigator is connected to the power module, and synchronously measures the external azimuth attitude information of the remote sensing module during detection according to the satellite time received by the satellite positioning module, wherein the external orientation information Includes magnetic azimuth angle values, 4 M377016 pitch angle values, and roll angle values;
—資料紀錄(Data Log)模組，係分別連接於該電源模組 '該衛 星疋位模組 '該遙感探測模組和該慣性導航儀，其透過接收該衛 星定位模組所傳送之衛星時間來同步記錄該無人飛㈣具遙感探 測系統於作業時的經度、緯度、平均海拔高度、精確的衛星時間、 外方位姿態資訊及地面的影像資訊。 基於-般小型的無人飛行載具’絲易受到飛行時環境的影 響(如氣流干擾），導致無人飛行載具在巧航行時㈣離航道的情 況因此，本創作之無人飛行载具遙感探測系統特別設置有一衛 星定位模組和一慣性導航儀，並依據衛星時間進行同步作業，來 完整紀錄飛行狀態、拍攝角度和拍攝時間，以利後續影像的處理 (如影像拼接）’進而提供具有較精準的地面影像資訊。 【實施方式】 ° 請參考第-圖所示，本創作之無人飛行載具遙感探測系統 (1) ’係包括： 電源模組（10)，係用於提供該無人飛行載具遙感探測系統 運作時所需之電力； 衛星定位模組（11)，其至少具有一天線（11〇)並連接於該電 源模組（10)，該天線（11Q)透過接收外部的全球衛星线中衛星所 發达的訊號來取得該無人飛行載具遙感探測系統⑴目前之經度、 緯度、平均海拔高度和精確的衛星時間； 一遙感探測模組（12)，係連接於該電源模組（1〇)並透過遙感探 剛技術來取得地面的影像資訊； 一慣性導航儀（13)，係連接於該電源模組（10)，並依據該衛星 5 M377016 ㈣/月/>曰f正 定位模組（11)所接收之衛星時間來同步量測該遙感探充 於探測時的外方位姿態資訊；及 -資料紀錄（Data Log)模組（14)，係分別連接於該電源模組 (10) 、該衛星定位模組⑼、該遙感探測模組（12)和該慣性導航儀 (⑶’其透過接收該衛星定位模組（11)所傳送之衛星時間來同步記 錄該無人飛行載具遙感探測系統（1)於作業時的經度、緯度、平均 海拔高度、精確的衛星時間 '外方位麵倾、地面的影像資訊 及進行拍照的時間。 ° 其中，該遙感探測模組⑼可為—照相機、一紅外線成像機或 一雷達二維影像成像機。 其中，該外方位姿態資訊分別包括有磁方位角度值、俯仰角 度值和滾轉角度值。 月參考第及_圖所示’為了幫助審查委員更能了解本創作 ’、、、人飛行載具遙感探測系統⑴於飛行空拍時的運作流程，特以 一實施例進行流程的說明，其包括有： 步驟A(20):開啟電源’讓該電源模組（1〇)提供該無人飛行載 具遙感探測系統⑴運作時所需之電力，來啟動該衛星定位模組 (11) 、該遙感探測模組⑽ '該慣性導航儀⑼和該資料 (14)； 、、 步驟B(21).該衛星定位模組⑴)接收外部衛星的訊號，以取 得該無人飛行載具遙感探測系統⑴之經度、緯度、平均海拔高度 和精確的衛星時間； 步驟C(22).該慣性導航儀（13)和該資料紀錄模組⑽分別接 收該衛星時間來同步量測該遙感探_組（12)於探測時的外方位 姿態資訊；及 6 M377016 ㈣/月/-¾ 修正補充 步驟D(23):該資料紀錄模組（14)記錄該無人飛行載具遙感探 測系統（1)於作業時的經度、緯度、平均海拔高度、精確的衛星時 間、外方位姿態資訊、地面的影像資訊及進行拍照的時間。 综合上述，本創作之無人飛行載具遙感探測系統特別設置有 一衛星定位模組和一慣性導航儀，並透過衛星時間進行同步作 業，來完整紀錄飛行狀態、拍攝角度和拍攝時間，以利後續影像 的處理（如影像拼接），進而提供具有較精準的地面影像資訊。 惟以上所述者，僅為本創作之較佳實施例，當不能以此限定 φ 本創作實施之範圍；凡依本創作申請專利範圍及創作說明書内容 所作之簡單的等效變化與修飾，皆應仍屬本新型專利涵蓋之範圍 内。 【圖式簡單說明】 第一圖係本創作之無人飛行載具遙感探測系統架構 圖。 第二圖係本創作之一實施例的流程圖。 【主要元件符號說明】 (I) 無人飛行載具遙感探測系統 (10)電源模組 (II) 衛星定位模組 (110)天線 (12) 遙感探測模組 (13) 慣性導航儀a Data Log module, which is respectively connected to the power module 'the satellite clamp module', the remote sensing module and the inertial navigation device, which receive the satellite time transmitted by the satellite positioning module Synchronize the longitude, latitude, average altitude, precise satellite time, external azimuth attitude information and ground image information of the unmanned flying (4) remote sensing detection system during operation. Based on the small-sized unmanned aerial vehicle 'silk is susceptible to the flight environment (such as airflow interference), resulting in unmanned aerial vehicles in the case of smart navigation (4) off the channel, therefore, the creation of the unmanned aerial vehicle remote sensing detection system In particular, a satellite positioning module and an inertial navigation device are provided, and the satellite time is used for synchronization to completely record the flight state, shooting angle and shooting time, so as to facilitate subsequent image processing (such as image stitching), thereby providing more accurate Ground image information. [Embodiment] ° Please refer to the figure - figure, the unmanned aerial vehicle remote sensing detection system (1) of this creation includes: a power module (10) for providing the operation of the unmanned aerial vehicle remote sensing detection system The power required for the time; the satellite positioning module (11) has at least one antenna (11〇) connected to the power module (10), and the antenna (11Q) is transmitted through a satellite in the receiving external satellite line The signal is obtained to obtain the current unmanned aerial vehicle remote sensing detection system (1) the current longitude, latitude, average altitude and precise satellite time; a remote sensing module (12) is connected to the power module (1〇) and Obtaining image information of the ground through remote sensing technology; an inertial navigation device (13) is connected to the power module (10), and according to the satellite 5 M377016 (four) / month /> 曰f positive positioning module ( 11) The received satellite time is used to synchronously measure the external orientation information of the remote sensing probe during the detection; and the Data Log module (14) is respectively connected to the power module (10), The satellite positioning module (9), the remote sensing The module (12) and the inertial navigation device ((3)' synchronously record the longitude and latitude of the unmanned aerial vehicle remote sensing detection system (1) during operation by receiving the satellite time transmitted by the satellite positioning module (11) , average altitude, accurate satellite time 'outside azimuth tilt, ground image information and time to take pictures. ° Among them, the remote sensing module (9) can be - camera, an infrared camera or a radar 2D image The external azimuth attitude information includes a magnetic azimuth angle value, a pitch angle value, and a roll angle value respectively. The monthly reference and the _ figure show 'to help the review committee to better understand the present', and the person flies. The operation process of the vehicle remote sensing detection system (1) during flight aerial shooting is described in an embodiment, which includes: Step A (20): Turn on the power supply and let the power module (1〇) provide the unmanned The vehicle requires a power to operate the remote sensing system (1) to activate the satellite positioning module (11), the remote sensing module (10) 'the inertial navigation device (9) and the data (14); Step B (21). The satellite positioning module (1) receives the signal of the external satellite to obtain the longitude, latitude, average altitude and precise satellite time of the unmanned aerial vehicle remote sensing system (1); Step C (22). The inertial navigation device (13) and the data recording module (10) respectively receive the satellite time to synchronously measure the external azimuth posture information of the remote sensing probe group (12) during detection; and 6 M377016 (four)/month/-3⁄4 correction Supplementary step D (23): the data recording module (14) records the longitude, latitude, average altitude, accurate satellite time, external orientation information, ground of the unmanned aerial vehicle remote sensing detection system (1) during operation Image information and time to take photos. In summary, the unmanned aerial vehicle remote sensing detection system of the present invention is specially provided with a satellite positioning module and an inertial navigation device, and synchronizes through satellite time to completely record the flight state, shooting angle and shooting time for subsequent images. The processing (such as image stitching) provides more accurate ground image information. However, the above is only the preferred embodiment of the present invention, and the scope of the creation of the φ is not limited by this; the simple equivalent changes and modifications made by the scope of the patent application and the content of the creation specification are all It should remain within the scope of this new patent. [Simple description of the diagram] The first picture is the architecture diagram of the unmanned aerial vehicle remote sensing detection system of this creation. The second figure is a flow chart of one embodiment of the present creation. [Main component symbol description] (I) Unmanned aerial vehicle remote sensing detection system (10) Power supply module (II) Satellite positioning module (110) antenna (12) Remote sensing detection module (13) Inertial navigation system
(14) 資料紀錄模組 (20)步驟A M377016 修正 補充(14) Data Recording Module (20) Step A M377016 Correction
(21) 步驟B(21) Step B
(22) 步驟C P3)步驟D(22) Step C P3) Step D