進行海底資源的探勘、海洋石油的開發、海底管線的佈放與維護或者是水下搜索作業，都需要有精確的水下定位系統來協助。雖然都卜勒定位系統(DVL)是十分有效的水下導航方式，但還是存在誤差來源像是對準偏差與時間對對齊的誤差問題。在安裝都卜勒流速儀與單獨的姿態感測器時，通常會發生對準偏差的情形，如果想要獲得精確的水下導航，就必須解決感測器參考座標之間對齊的問題。本研究利用載具進行橫移(Sway)運度與縱移(Surge)運動來估算都卜勒流速儀與姿態感測器之間的偏差角度，分別探討艏向(Heading)、縱移(Pitch)、橫移(Roll)偏差角度對定位軌跡造成的影響，利用上述影響，反算都卜勒流速儀與姿態感測器之間的偏差角度，並據此建構一套數值迭代演算法來估算三個對準偏差角度。本研究進行數值模擬驗證且利用成大拖航水槽進行對準偏差校正實驗，發現此一演算法經幾次數值迭代估算後，便能將對準偏差角度的誤差值收斂到合理範圍內，本研究的結果顯示此演算法可快速的收斂並改善定位誤差，驗證此一迭代演算法的強健性。

Precise positioning is essential for the success of undersea resource investigation, offshore oil drilling, pipeline laying and maintenance, and underwater rescue and recovery. Although the Doppler velocity log (DVL) system is quite effective for subsea navigation, it subjects to various potential sources of error such as alignment and travel times. With regard to the alignment error, it usually occurs in the installation of DVL and separate attitude sensors. The calibration of alignment between sensors is always a problem needed to be solved for precision navigation. To estimate the angular misalignments between the DVL and the attitude sensors, this study proposes a DVL positioning scheme for surge and sway motions. Then, mathematical representations of positioning error arising from heading, pitch, and roll misalignments are derived, respectively. The effect of each misalignment angle and how the differences can be used to calibrate each misalignment angle in turn are presented. An iterative algorithm that takes advantage of the geometry of position errors resulting from angular misalignments is developed for DVL calibration. Numerical simulations and experiments are provided to demonstrate the effectiveness of the iterative algorithm. The simulation and experimental results have shown that the estimates of alignment errors obtained at the first iteration are close to being correct. Moreover, only a few iterations are required to achieve very accurate solutions. Results in this study strongly support superiority of the proposed iterative algorithm which yields a very rapid and robust convergence of the solution series.

目錄
第一章 緒論 1
1.1前言…………………1
1.2動機與目的…………2
1.3文獻回顧……………2
1.4論文架構……………3
第二章 都卜勒定位系統 5
2.1都卜勒效應與都卜勒測速原理……5
2.2都卜勒定位原理……………………8
2.3都卜勒定位系統誤差來源…………10
第三章 對準偏差對定位軌跡之影響 13
3.1橫移與縱移運動……………………13
3.2艏向偏差角度對定位軌跡的影響.………16
3.2.1橫移運動…………………16
3.2.2縱移運動…………………17
3.3縱搖偏差角度對定位軌跡的影響.…………18
3.3.1橫移運動……………………18
3.3.2縱移運動……………………18
3.4橫搖偏差角度對定位軌跡的影響…………19
3.4.1橫移運動……………………19
3.4.2縱移運動……………………20
3.5結論…………………………………………21
第四章 校正程序與數值模擬 22
4.1數值迭代程序………………………………22
4.2數值模擬……………………………………26
第五章 對準偏差校正實驗與定位資料分析34
5.1儀器架設與實驗規劃………………………34
5.2對準偏差校正實驗資料分析………………38
5.3水下多音束測深儀定位……………………44
第六章 討論與結論57
6.1討論…………………………………………57
6.2結論…………………………………………58

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