超短基線因具有成本低、佈放時間短的優點，故非常適合做為水下定位系統。但由於超短基線的定位座標是參考固定在水中收發器上的座標系統，故收發器與量測船體運動的感測器之間的參考線和參考面必須對準，否則收發器與感測器之間的對準偏差會影響目標物定位的計算，而縱搖（Pitch）、橫搖（Roll）、航偏（Yaw）對準偏差必須透過適當的實驗及利用座標轉換技巧來修正，才能達到準確定位。本研究利用固定於海床上的超短基線應答器，以工作船繞圓及直行兩種航行測線，分別分析橫搖、縱搖及航偏三個方向對準偏差造成的定位軌跡，並建立超短基線水下定位對準偏差之數值迭代修正程序。此外，針對海上進行對準偏差修正時所遇到的偏心圓、直線航線之航向偏離、航向動態變化及航線左右偏離等情形，本研究也進一步加以模擬並修正。經分析對準偏差特性及模擬修正結果發現，繞圓運動在繞圓心並非位於應答器正上方時，其定位軌跡並非圓形，造成分析上的困難，僅能適合在較深水深下運用。但直線運動即使在具有航向偏離動態變化與航線偏移等現象下做模擬修正及迭代，亦能快速且有效的收歛在預期誤差範圍內，故直線測線較適合實施感測器對準偏差校正時採用。

The performance of an ultra-short baseline (USBL) positioning system is limited by noises and errors from physical environment and other sources. One of the major errors in USBL positioning is to neglect the sensor misalignment which produces static yaw, pitch, and roll offsets. In this study, a circular survey observation scheme is first proposed to study the positioning errors of a USBL system with a fixed seabed transponder. The center of the circular survey scheme is assumed to be located over the top of the transponder. Mathematical equations of the transponder positioning with yaw, pitch, and roll offsets are derived, respectively. According to characteristics of positioning errors arose from yaw, pitch, and roll offsets, an iterative procedure of first getting roll offset, next computing yaw offset, and then obtaining pitch offset for sensor misalignment correction is established. Simulation results indicate that the iterative procedure can effectively obtain all offsets with high determination accuracy and the computation can rapidly converge to desired error tolerance in a few iterations. However, the center of circular vessel survey scheme is almost impossible to be exactly located over the top of the transponder. In such a case, the horizontal positioning error resulting from pitch offset or roll offset is no more a circle function. As a result, it will fail to evaluate the angle offsets through above iterative procedure unless the deviation from real and estimate horizontal transponder position is extremely small comparing to the transponder depth. Therefore, in addition to circular survey scheme, this study proposed a straight survey scheme to study the patterns of positioning error resulting from yaw, pitch, and roll offsets. Similar to the philosophy of establishing the iterative procedure described above, the iterative procedure of first getting pitch offset, next computing roll offset, and then obtaining yaw offset for sensor misalignment correction is established. Again, simulation results show that the iterative procedure can find all offsets with high determination accuracy and has the advantage of quick converging. Besides, the iterative procedure can still obtain correct angle offsets even though there is a constant heading deviation from the direction of the straight vessel track during vessel survey.

摘要 ………………………………………………………………………………… I
Abstract ………………………………………………………………………………II
目錄…………………………………………………………………………………III
圖目錄………………………………………………………………………………V
第一章 前言 1
1.1 研究動機與目的……………………………………………………………4
1.2 相關研究文獻………………………………………………………………4
1.3 論文架構……………………………………………………………………6
第二章 圓形航線之水下定位量測 7
2.1 座標系統……………………………………………………………………7
2.2 航偏角(Yaw)對準偏差………………………………………………………8
2.3 縱搖角(Pitch)對準偏差……………………………………………………11
2.4 橫搖角(Roll)對準偏差……………………………………………………14
2.5 討論…………………………………………………………………………17
第三章 圓形航線之感測器對準偏差修正 18
3.1 對準偏差修正程序…………………………………………………………18
3.2 對準偏差修正模擬…………………………………………………………23
3.3 偏心圓定位量測……………………………………………………………25
第四章 直線航線之感測器對準偏差定位軌跡 33
4.1 座標系統……………………………………………………………………33
4.2 航偏角對準偏差……………………………………………………………34
4.3 縱搖角對準偏差……………………………………………………………37
4.4 橫搖角對準偏差……………………………………………………………39
第五章 直線航線之感測器對準偏差修正 42
5.1 直線航線修正程序…………………………………………………………42
5.2校準模擬……………………………………………………………………47
第六章 船隻操縱性對對準偏差修正之影響 50
6.1 航向動態變化………………………………………………………………50
6.2 航線左右偏離………………………………………………………………52
6.3 航向動態變化與航線偏離…………………………………………………55
第七章 結語 57
7.1 結論…………………………………………………………………………57
7.2 建議…………………………………………………………………………58
參考文獻……………………………………………………………………………59

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