本文为美国佛罗里达大学（作者：SCOTT M. KANOWITZ）的硕士论文，共47页。

微型飞行器（MAV）在军事和民用的监视和侦察领域越来越受欢迎；然而，由于其体积小，稳定性较差，使其仅对少数飞行员有用。本文提出了一种基于GPS的微型飞行器自主飞行导航系统。在这一领域的前期工作已经出现了一种基于视觉的地平线跟踪算法，能够在用户输入的情况下持续水平飞行。我们的目标是利用GPS接收器提供的信息改进这一飞行系统。本文首先介绍了目前基于视觉的导航系统，并讨论了其局限性。接下来，我们将讨论通过GPS改进导航系统的建议。然后，介绍了导航控制的硬件系统和软件算法的设计。基于GPS和视觉的导航系统已在佛罗里达大学的多次地面模拟中成功集成并测试。

Micro air vehicles (MAVs) are becomingvastly popular in the areas of surveillance and reconnaissance for military andcivilian use; however, their instability due to their small size renders themuseful to only a handful of pilots. We propose implementing a GPS-basednavigation system for use in autonomous flight of micro air vehicles. Previousefforts in this area have produced a vision-based horizon tracking algorithmcapable of sustained level flight with user input. Our goal is to improve onthis flight system using information from a GPS receiver. In this thesis wefirst introduce the current vision-based navigation system and discuss itslimitations. We next discuss the proposed improvements to the navigation systemthrough GPS. Then, we describe the design of the hardware system and softwarealgorithms for navigation and control. The GPS- and vision-based navigationsystem has been successfully integrated and tested in multiple groundbasedsimulations at the University of Florida.

1 引言

2 系统概述

3 轻便GPS导航系统

4 实验结果

5 未来研究工作展望与讨论

6 附录：硬件设计原理图

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