本研究目的是建立一套4G LTE群組無人機系統，使得多台無人機能透過4G LTE 網路與地面控制站連結，並透過地面控制站控制每一台無人機執行各自的飛行任務。
系統主要是由4G LTE傳輸系統及地面站航點分配系統構成。4G LTE傳輸系統提供無人機透過樹苺派3及4G LTE網路傳遞無人機的資訊至地面控制站，同時也從地面控制站發送控制訊號至無人機，利用此傳輸系統使得資料鏈的傳輸距離遠過於傳統RF模組所能提供的傳輸距離。而航點分配系統，是由一套開源程式且功能完善的即時監控地面控制站Mission Planner 改編而成，提供使用者可以監控無人機即時狀態及對每一台載具進行控制。
　　在最後的實際驗證裡，我們建構了五台多旋翼機作為群組無人機系統的驗證載具。操作者在地面控制站點擊大量導航點後，系統經由演算法自動重新規劃最佳化路線，並透過4G LTE 將規劃後的路線分派給群組裡之各無人機，各架無人機上的Pixhawk飛行控制器再依照接收到的導航點分別進行各自的航路任務，實驗成功地驗證群組無人機任務系統之功能。成功建立一套遠距離通訊及多機控制系統，為本研究之主要貢獻。

The goal of this research is to build a 4G LTE UAV(Unmanned Aerial Vehicle) swarm system which will enable multiple UAVs to connect with a ground control system via 4G LTE, and control each UAV’s mission execution from the ground control station.

The system consists of a 4G LTE transport system and a waypoint assigning system at the ground station. 4G LTE transport system enable UAVs to submit information and data to the ground control station via Raspberry Pi 3 through 4G LTE network, and vice versa the ground control station is sending controlling signals to UAV(s). Accessible distance of datalink by using this transport system is remarkably increasing rather than using the traditional RF module. The waypoint assigning system was adapted from an open-source ground control system named Mission Planner, which provides users each UAV’s in-time status and full control on the vehicles.

In final verification stage, the team set up five multicopters as the vehicle for verifying the experimental UAV swarm system experiment. After controller clicked numerous waypoints in the ground control station, the system algorithm has automatically re-program for the optimized path and then assigned the re-programed path to each UAV in the swarm via 4G LTE. At meantime, so-called Pixhawk, the flight controller embedded on each UAV was immediately performing its individual task according to the waypoint data received. Through this experiment, the research team has successfully verified the functions of UAV swarm mission system and set up a powerful system for multicopter control with long distance communication technology.

摘要.....i
Abstract.....ii
Acknowledgements.....iii
Contents.....iv
List of Tables.....v
List of Figures.....vi
Symbols.....viii
Chapter 1 Introduction.....1
1.1 Background information.....1
1.2 Motivation.....2
1.3 Research purpose.....3
1.4 Research framework.....3
Chapter 2 Literature Review.....5
2.1 4G cellular network.....5
2.2 Swarm.....5
Chapter 3 Hardware Structure And Integration.....7
3.1 Hardware specifications.....7
Chapter 4 4G Module and System Architecture.....18
4.1 4G LTE UAV swarm features.....18
4.2 System architecture.....18
Chapter 5 Experiment Planning And Results.....33
5.1 Experiment planning.....34
5.2 Experiment verification.....34
Chapter 6 Conclusion and Future Study.....46
Reference.....48
Extended Abstract.....50
Abstract.....50

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