中山大學於 2010 年投入 AUV 技術之研究，開發具備核心控制與任務腳本執
行功能之 IUT AUV 雛型機，其展現穩定之定高控制性能，可搭載 mm 級解析度
之海床雷射掃描系統執行海床粗糙度量測。延續 IUT AUV 雛型機系統的研發基
礎，中山大學已經著手進行新型 IUT AUV 的開發，以建立可靠之實海域作業能
力為目標。因應新型 IUT AUV 開發之需求，確保其實海域作業之安全性，本研
究進行水面定位與通訊系統的開發與性能測試。在建立水面定位通訊功能方面，
本研究完成整合 GPS 接收器與 RF 模組之電路通訊設計和水密設計，測試結果顯
示此一 GPS 接收器與 RF 模組在未經水密處理時傳輸距離可達約 7 公里，水密
處理後傳輸距離為 1 公里，水密艙體成功通過實海域水深 1,100 公尺之耐壓防水
測試。在水下通訊功能建置方面，本研究完成了聲學數據機水下單元之水密艙設
計與製作，艙體成功通過高壓艙水深 3,000 公尺之耐壓防水測試。另一方面，本
研究也於高雄港內與實海域兩種環境下，測試聲學數據機之性能。高雄港內的聲
學數據機水平通訊測試分為 50 公尺短距離與 450 公尺長距離之測試，短距離測
試驗證聲學數據機具有良好的短距水平通訊能力，長距離測試利用田口方法辨明
聲學數據機長距水平通訊最佳之因子水準組合為資料傳輸速率 600 bps、傳輸功率
20 W 與資料傳輸量 45 bytes，此外亦證實測試環境中有一具時變性的重要干擾因
子。實海域測試方面亦採用田口方法進行實驗設計與分析，得知在通訊距離為 45
m 與傳輸功率為 20 W 時，聲學數據機能獲得最佳之垂直通訊性能。另一方面，
本研究亦在實海域的測試中發現干擾因子的存在，藉由實海域測試之結果探討該
干擾因子對於聲學數據機垂直通訊性能的影響。

Since 2010, the Institute of Undersea Technology (IUT) of the National Sun
Yat-sen University has been devoted to the research on autonomous underwater ve
hicle (AUV). The IUT AUV prototype equipped with a main controller, an interface
for mission planning, and the Seaflor Laser Scanner (SLS) was developed in 2012,
which is able to maintain a stable altitude to the sea flor for measuring fie-scale
bottom roughness. Based on the knowledge and experience gained from the IUT
AUV prototype development, a new IUT AUV is currently under development for
reliable operation purposes. The objective of this work is to develop a surface local
ization system and evaluate the performance of an underwater acoustic modem for
the new IUT AUV. To ensure safety in deployment and recovery stages of the AUV,
a global positioning system (GPS) receiver integrated with a radio frequency (RF)
communication module is developed and will be installed with the AUV for remotely
tracking and monitoring the vehicle while it is on surface. The GPS with RF com
munication module before waterproof has been tested and demonstrated to have a
operation range up to 7 km. A waterproof housing was designed and manufactured
for the GPS with RF communication module, which has been successfully pressure
tested at a water depth of 1100 m. The operation range of the GPS/RF module,
however, is reduced to 1 km only when it is installed in the waterproof housing.
In addition to the GPS/RF module, an acoustic modem will be integrated into the
IUT AUV to provide a wireless digital communication link between the surface ves
sel and the underwater vehicle. A waterproof housing that is 3000 m depth rated
was designed and fabricated for the electronics of the subsea acoustic modem. In
order to identify signifiant factors affcting the performance of the acoustic modem,
experiments were conducted in the Kaohsiung harbor and open ocean environments.
The testing result demonstrates that, in the Kaohsiung harbor, the acoustic modem
can deliver excellent performance in horizontal communication at a short range of 50
m. However, at a 450 m long range test, the performance of the acoustic modem in
horizontal communication is signifiantly worse and is severely affcted by unknown
time-varying factors. Based on the 450 m long range communication experiments
conducted in the Kaohsiung harbor, the optimum combination of variables was de-
termined, with the Taguchi method, as the transmit rate of 600 bps, the transmit
power of 20 W and the transmit data of 45 bytes. Also, experiments for evaluating
performance of the acoustic modem in vertical communication were carried out of
southwestern Taiwan, and the best combination of variables was identifid by the
Taguchi method. The experimental results demonstrate that, in the open ocean en-
vironment, the acoustic modem can perform the best vertical communication with
the transmit power of 20 W at the distance of 45 m. Still, in the open ocean environ-
ment, the performance of the acoustic modem in vertical communication is severely
inflenced by unidentifid noises.

誌謝 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i
摘要 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii
Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
目錄 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
圖目錄 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
表目錄 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
第一章 緒論 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 前言 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 研究動機 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 文獻回顧 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 研究目的 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
第二章 設計考量與研究方法 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1 IUT AUV 架構 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1.1 雛型機 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1.2 新型 IUT AUV . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2 水下通訊之限制 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.3 調變技術 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.4 田口方法 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
第三章 水面定位與通訊系統建置. . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.1 定位與通訊系統整合設計 . . . . . . . . . . . . . . . . . . . . . . . . 37
3.2 水面定位通訊模組初步測試 . . . . . . . . . . . . . . . . . . . . . . . 41
3.3 水面定位通訊模組水密設計 . . . . . . . . . . . . . . . . . . . . . . . 42
3.4 水面定位通訊水密模組性能測試 . . . . . . . . . . . . . . . . . . . . 47
第四章 水下水平通訊測試與分析. . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.1 聲學數據機 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.2 港內短距水平通訊測試 . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.3 港內長距水平通訊測試 . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.3.1 初步測試 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.3.2 L9 直交實驗與分析 . . . . . . . . . . . . . . . . . . . . . . . . 61
4.3.3 L16 直交表實驗與分析 . . . . . . . . . . . . . . . . . . . . . . 68
4.4 結果與討論 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
第五章 實海域垂直通訊測試與分析 . . . . . . . . . . . . . . . . . . . . . . . . . 87
5.1 實驗配置架構 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
5.2 垂直通訊測試與分析 . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
5.2.1 測試 I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
5.2.2 測試 II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
5.2.3 測試 III . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
5.3 結果與討論 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
第六章 結論 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
參 考 文 獻 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

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