在無人機自動巡航技術的發展過程中，5G行動通訊網路的低延遲與高可靠性已經改善無人機飛行的安全性與反應時間，本論文提出無人機自動巡航的機制(Automatic Cruise Mechanism on UAV, ACMU)，此機制的運作流程分為監控中心與樹梅派的運作流程，我們在監控中心設計ACMU Server，ACMU Server將YOLO的近似GPS值轉換為控制封包，我們在樹梅派設計兩個模組，分別為控制封包接收模組與飛行控制模組，在監控中心與無人機之間設計控制封包，控制封包包含飛行任務所需的經度、緯度、高度。在實作過程中，監控中心會透過TCP Socket將控制封包傳送給樹梅派，樹梅派的控制封包接收模組收到後透過行程間通訊(Inter-Proccess Communication)傳送給飛行控制模組並轉換為MAVLink指令讓無人機起飛。無人機起飛後，飛行控制模組負責無人機的飛行安全與追蹤入侵物，在追蹤入侵物的部分，飛行控制模組將會比較無人機上的GPS接收器所定位的當前位置與ACMU Server傳送的目標位置，當兩個位置相差小於容許值時，無人機將視為抵達入侵物位置，並在入侵物上空盤旋，當其他攝影機偵測到新的入侵物時，無人機將執行改變位置的指令飛向新的入侵物，在抵達入侵物位置後，樹梅派的控制封包接收模組會傳送無人機抵達位置的訊息給ACMU Server，在實作完成後，我們在ACMU Server量測無人機的起飛時間(Capture to Take-Off, CTT)與移動位置(Instruction to Move, ITM)所需的延遲時間。

In the development of automatic cruise techniques, 5G-NR (New Radio) offer the benefit of ultra reliability and low latency, which can significantly improve the safety and response time in a drone flight. In this thesis, we propose an automatic cruise mechanism which consists of two parts, the controller and the Raspberry Pi. In the controller, we design an Automatic Cruise Mechanism on UAV (ACMU). The function of ACMU is to convert the approximate GPS value into control packets. In the Raspberry Pi, we design two modules, the control-packet receiving module and the flight control module. For the communication between the controller and the Raspberry Pi, we design a control packet, contained longitude, latitude, and altitude for the flight mission. In the implementations of ACMU, the controller first sends a control packet to Raspberry Pi through TCP Socket. After receiving the control packet, the control-packet receiving module converts it into MAVLink instruction and sends it to flight control module via inter-process communication (IPC). In the decision of intruder tracking function, the flight control module will compare the drone's present location and the target location. When another camera detects a new intruder, drone will fly to the new intruder. After arriving the location of the new intruder, the control-packet receiving module sends back the report message to ACMU Server. After the implementations, we measure two delay times, the capture-to-takeoff (CTT) delay and the instruction-to-move (ITM) delay.

論文審定書 i
致謝 ii
摘要 iii
Abstract iv
目錄 v
圖目錄 vii
表目錄 viii
第一章　導論 1
1.1 研究動機 1
1.2 研究方法 1
1.3 章節介紹 2
第二章　無人機的控制與協定 3
2.1無人機GPS的定位 3
2.2 MAVLink 6
2.2.1 MAVLink Frame 6
2.2.2 Command-Long 7
2.3 Inter-Process Communication 9
2.3.1 Pipe 10
2.3.2 Message Queue 10
2.3.3 Share Memory 11
2.3.4 Memory Mapping 13
2.4 相關研究 13
第三章　無人機的自動巡航 18
3.1 系統架構 18
3.2 ACMU Server傳送控制封包的流程 21
3.3 無人機的樹梅派接收控制封包的流程 22
3.3.1 控制封包接收模組 22
3.3.2 飛行控制模組 23
3.4 控制封包 25
3.5 監控中心與無人機的延遲時間 27
第四章　實作與結果分析 30
4.1 ACMU傳送控制封包的虛擬碼 30
4.2 樹梅派接收控制封包的實作 42
4.2.1 控制封包接收模組的虛擬碼 42
4.2.2 飛行控制模組的虛擬碼 48
4.3 實驗環境與設備規格 52
4.4 CTT與ITM的量測步驟 56
4.5實作的結果與分析 57
4.5.1實驗內容與參數設定 57
4.5.2結果分析 58
第五章　結論與未來工作 60
5.1 結論 60
5.2 遭遇的困難 60
5.3 未來工作 61
References 62
Acronyms 67
Index 68

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