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系統識別號 U0026-3108201811451200
論文名稱(中文) 水下考古影像與水下載具超短基線定位系統之整合
論文名稱(英文) Integration of Underwater Archaeology Images and USBL Positioning System on ROV
校院名稱 成功大學
系所名稱(中) 系統及船舶機電工程學系
系所名稱(英) Department of Systems and Naval Mechatronic Engineering
學年度 106
學期 2
出版年 107
研究生(中文) 謝承曄
研究生(英文) Cheng-Yeh Hsieh
學號 P16051062
學位類別 碩士
語文別 中文
論文頁數 110頁
口試委員 指導教授-陳政宏
口試委員-方銘川
口試委員-陳信宏
中文關鍵字 水下載具  定位導航  超短基線  水下定位系統  水下考古  水下影像 
英文關鍵字 underwater vehicle  GPS  USBL  underwater location system  underwater image 
學科別分類
中文摘要 目前台灣水下考古目標物的定位方法大多為人力方式,限制搜尋的範圍,因此本研究目的為水下載具(Remote-control Operated Vehicle,ROV)進行水下考古定位,開發出一套定位座標與ROV拍攝之影像結合系統,利用此系統自動標示古物絕對位置座標,可減少之後需定期往返古物的搜尋時間,並可藉由此系統觀測古物座標位置是否有受洋流影響而改變。此系統有利於未來水下遺址的定期監測、考古,可取代人力,節省人事經費、縮短時間、減少風險外,也可到達較危險及較深海域。
本研究主要採用的水下定位系統為超短基線USBL (Ultra Short Base Line),超短基線佈置與攜帶較為方便,利用水下聲學定位系統定出水面工作母船的相對位置,再藉由接收水下載具上的應答器發出的訊號與GPS搭配追蹤出ROV的絕對座標位置,搜尋水下目標古物,在國立成功大學拖行水槽進行水下定位系統精度實驗,並在安平外海測試水下定位系統與GPS結合後在介面上的使用之可行性,將USBL所偵測之水下目標位置資訊與ROV搜尋得水下目標畫面整合於同一個介面,此介面能記錄水下目標座標位置與影像,為了維護古物以及觀察水下位置變化,同時將此介面資訊畫面建檔保存縮短再次前往同樣地點搜尋目標的時間。
英文摘要 Now, the approach of underwater archeology in Taiwan is almost diving by human, which could limit searching range. As a result, the research would combine underwater located system with ROV (Remote-control Operated Vehicle) which is kind of underwater robit to search antiques. With this system, we could know the target antique’s coordinate, therefore, saving the time of searching antiques which could only conserve in underwater would improve the efficiency of underwater archeology, observe the location of antiques to be affected by current.
The underwater location system was used in reseach is USBL(Ultra Short Base Line) device, which is portable and less setting time, and the principle of device is detecting target’s position by acoustic, at same time this system would combine with GPS (Global Positioning System), and sending data to hub then transferring data into coordinate information on computer. Firstly, the experiment of device precision would test in National Cheng Kung University towing tank, then combining with GPS would test whether the system which concluded USBL, GPS, and image information could condunt on sea field. After all, the information would be designed to show on same interface at same time to implement the purpose of the research.
論文目次 摘要 I
誌謝 VIII
目錄 IX
表目錄 XI
圖目錄 XII
符號說明 XVI
第一章 緒論 1
1-1 研究背景 1
1-2 文獻回顧 2
1-3 研究目的 5
1-4 論文架構 7
第二章 研究方法 8
2-1 定位實驗設備 8
2-1-1長基線定位原理 8
2-1-2超短基線定位 9
2-1-3GPS 13
2-1-4ROV 13
2-2 超短基線定位系統水槽試驗 19
2-2-1水平距離和深度 22
2-2-2方位 23
2-2-3路徑 24
2-2-4搜尋水下物品 25
2-3 超短基線斜距 28
2-4 卡爾曼演算法 29
2-5 都普勒測速原理 33
2-6 影像介面系統整合 38
第三章 實驗問題之處理與結果之分析 39
3-1 超短基線精度試驗 39
3-1-1水平距離、深度 39
3-1-2方位 45
3-1-3路徑 47
3-2 影像介面系統整合呈現 49
3-3 實驗問題、探討與實際海域測試 52
3-3-1實際海域測試 52
3-3-2接收訊號中斷與時間延遲 55
3-3-3多重路徑效應 59
3-3-4定位系統濾波修正 71
3-3-5應用水下目標位置與影像介面系統 77
第四章 結論與未來展望 86
4-1 結論 86
4-2 未來展望 87
參考文獻 89
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