臺灣博碩士論文加值系統

超視距飛行 (BVLOS) 對於無人機產業即將到來的商業加速階段至關重要。支持無人機 BVLOS 操作的要求之一是具有適當連線的行動網路。 本研究將分析無人機飛行特性（高度、速度和傾斜角）對無人機 BVLOS 飛行的行動網路品質之影響。 首先，設計總體技術框架，包括軟硬體、地面測試和飛行驗證。 接著，開發配備 Raspberry Pi 和 4G 連接的原型無人機。 進行了地面測試以測試系統的功能，表明系統框架運行良好，平均延遲為 40 毫秒。 進行飛行測試，測量無人機飛行特性在高度（30 m、60 m、90 m、150 m、200 m和250 m）和速度（22 m/s和30 m/s）下對行動網路訊號的影響。飛行測試結果表明，隨著無人機高度的增加，訊號品質（RSRP、RSRQ、SNR）降低。 不過，離地 60 - 90 m 的延遲仍好於離地 30 m 的延遲；距地250 m之訊號品質仍在可接受範圍內。 飛行速度對連線品質的影響微不足道。 但是，延遲會隨著速度的增加而增加。 此外，影像即時串流的功能在速度 30 m/s、高度 250 m的情況下仍可運作，儘管品質會下降。 最後，高達 60° 的傾斜角度變化不會影響網路訊號品質。

Beyond Visual Line of Sight (BVLOS) operations are crucial for enabling the drone industry's upcoming phase of UAV commercial acceleration. One of the requirements to support BVLOS operations in UAV is a mobile network with proper connectivity. This study will analyze the effect of UAV flight characteristics (altitude, speed, and bank angle) on mobile network quality for UAV BVLOS operations. First, the general technical framework, including hardware, software, ground test, and flight tests, is designed. Then, a prototype UAV equipped with Raspberry Pi and 4G connectivity is developed. A ground test is conducted to test the system's functionality shows that the framework system functions well with an average latency of 40 milliseconds. A flight test is conducted to measure the effect of the UAV flight characteristics on the mobile network quality at altitudes (30 m, 60 m, 90 m, 150 m, 200 m, and 250 m) and speeds (22 m/s and 30 m/s). The flight test results show that internet quality (RSRP, RSRQ, SNR) decreases when the UAV altitude increase. Nevertheless, the latency at an altitude of 60 - 90 m is better than at an altitude of 30 m. Furthermore, the internet quality at an altitude of 250 m is still acceptable. The speed effect is insignificant on the internet quality. However, the latency increases with speed. In addition, video streaming functions up to a speed of 30 m/s and an altitude of 250 m, even though the quality is decreasing. Last, the bank angle variations up to 60° are not affecting the internet signal quality.

摘要.......................i
Abstract.................................…ii
Acknowledgements..........................…iii
Table of Contents..........................…iv
List of Tables..............................vii
List of Figures.......................viii
Chapter 1 Introduction.......................1
1.1 Background.......................1
1.2 Research Purpose.......................2
1.3 Research Problems.......................2
1.4 Thesis Organization.......................3
Chapter 2 Literature Review.......................4
2.1 Analytical Method.......................4
2.2 Simulation Method.......................5
Chapter 3 Theoretical Perspective.......................8
3.1 Unmanned Aerial Vehicle.......................8
3.1.1 Airframe.......................8
3.1.2 Propulsion.......................11
3.1.3 Flight Control.......................13
3.1.4 Communication.......................14
3.1.5 Surveillance System.......................15
3.2 UAV Flight Characteristics.......................16
3.2.1 Altitude.......................17
3.2.2 Attitude.......................18
3.2.3 Speed.......................19
3.3 Internet Network.......................19
3.3.1 Internet Transmitter.......................20
3.3.2 Internet Quality Parameter.......................21
3.4 Beyond Visual Line of Sight.......................23
CHAPTER 4 Methodology.......................26
4.1 Unmanned Aerial Vehicle.......................26
4.1.1 Airframe Components.......................26
4.1.2 Propulsion Components.......................28
4.1.3 Flight Control Components.......................30
4.1.4 Communication Components.......................32
4.1.5 Surveillance Components.......................35
4.2 4G Architecture System.......................37
4.2.1 Raspberry Pi.......................38
4.2.2 UAVcast-Pro.......................39
4.2.3 Zerotier.......................43
4.2.4 4G Embedded System.......................44
4.2.5 Ground Control Station.......................46
4.3 Flight Test and Signal Measurement Test.......................47
4.3.1 Testing Area.......................48
4.3.2 Ground and Flight Test.......................50
4.3.3 Data Measurement.......................52
Chapter 5 Results and Analysis.......................53
5.1 Result and Discussion.......................53
5.1.1 Ground Test.......................53
5.1.2 Flight Test 1.......................56
5.1.2 Flight Test 2.......................57
5.1.3 Flight Test 3.......................60
5.1.4 Flight Test 4.......................65
5.1.5 Flight Test 5.......................77
5.2 Comparison Analysis.......................91
5.2.1 RSRP Comparison.......................91
5.2.2 RSRQ Comparison.......................94
5.2.3 SNR Comparison.......................96
Chapter 6 Conclusion and Recommendation.......................98
6.1 Conclusion.......................98
6.2 Recommendation.......................99
Reference.......................100
Appendix I.......................105
Appendix II.......................106
Appendix III.......................107
Extended Abstract.......................108

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