在系統實作方面，本文完成 RF 基站資料傳輸、Fusion Center 定位追蹤、PTZ 相機導引控制與 Web GUI 即時監控之整合。整體而言，本文所提出之系統具備多目標 UAV 量測關聯、定位追蹤、光學導引與即時監控能力，並具有實際部署與模組化擴充之應用潛力。;With the rapid development of Unmanned Aerial Vehicle (UAV) technology， unauthorized UAV intrusions have become a potential threat to airspace security， public management， and critical-site monitoring. Therefore， a real-time and stable multi-target UAV localization and tracking system is highly required. This thesis proposes an integrated RF and optical tracking system for multi-target UAV monitoring. The system adopts a Fusion Center as the core module and integrates multi-station RF DOA measurement modules， a Pan-Tilt-Zoom (PTZ) optical tracking module， and a Web GUI monitoring interface to achieve multi-target localization， tracking， optical guidance， and real-time visualization.
In multi-target scenarios， different base stations output multiple unlabeled DOA measurements， making it difficult for the Fusion Center to determine which measurements correspond to the same UAV. To address this issue， candidate localization points are generated using multi-base-station AoA rays， and a MAP-based multi-target measurement association method is developed. The system constructs a tracking association cost based on Kalman Filter prediction results and can further incorporate an RSSI-assisted cost to select the optimal measurement pairing. After association， an Extended Kalman Filter (EKF) is applied to predict and update UAV states， reducing the fluctuation of raw triangulation results and maintaining trajectory continuity.
For system implementation， this thesis completes the integration of RF base-station data transmission， Fusion Center localization and tracking， PTZ camera guidance control， and Web GUI real-time monitoring. Field experiment results show that applying the EKF reduces triangulation-based localization errors. For example， in a dual-target flight experiment， the Position RMSE of UAV1 is reduced from 39.60 m to 28.86 m， while that of UAV2 is reduced from 46.17 m to 32.57 m. Overall， the proposed system demonstrates integrated capabilities in multi-target UAV measurement association， localization and tracking， optical guidance， and real-time monitoring， showing its potential for practical deployment and modular expansion.
