關於離岸海底設施或遺落外海儀器之回收作業，是一項具有挑戰性的工作。一般而言，此類探測作業牽涉到一系列的過程，包括：目標物之特徵描述、搜尋、偵測、辨識、定位、反覆偵獲到打撈上岸。其中以目標物之搜尋與偵測為整個探測過程中最關鍵的階段。本研究之主要目的在於探討同步使用側掃聲納、地層剖面儀及磁力儀，針對水下靜態目標物進行偵搜、辨識與定位之具體成效。研究步驟包括：
1.探討各項水下探測儀器之功能限制及目標物辨識之準則。
2.以高雄港外海遺留錨鏈目標物為探測實例。
3.評估本研究方法之實用性。
根據各項儀器之特性，回聲測深儀所測得之水深資料依資料密度可適當表現海床高程起伏狀況；側掃聲納蒐集海床地貌影像，對海床上之目標物，具良好之偵測、辨識與定位功能；地層剖面儀提供海底地層資訊，可據以偵測掩埋目標物；磁力儀偵測環境磁場強度，藉以推斷鐵磁性目標物之位置及尺度。
依海圖資料顯示，高雄港外海坐標位置22°36.29’N，120°14.54’E與22°36.41’N，120°14.67’E (WGS-84 datum)處，有二廢棄錨鏈遺留於高雄港外海錨泊區之海床上。對此類目標物的回收計畫分為四個階段：蒐集有關錨鏈特性之訊息、區域概況探察與目標物偵測搜尋，目標物辨識與定位，以及最後的目標物回收階段。本研究中水下探測儀器之運用包括側掃聲納、地層剖面儀、磁力儀、回聲測深儀、水下定位系統(包括GPS)、水下攝影機(ROV)以及專業潛水人員，以海研三號為外海執行作業之載台。
側掃聲納初步探測階段結果顯示僅有一可疑目標物位於探測區域內。經聲納影像辨識準則之判定，可確認此目標物為一突起於海床上且與一障礙物產生勾絞狀況之錨鏈。研究成果包含目標物之坐標位置與其尺度，如結合其他相關資訊(例如：底質狀況、目標物原始資料與環境因素等)更可推測錨鏈遺留於海底之原因。對具鐵磁性之水下靜態目標物而言(例如：錨與鏈)，側掃聲納、磁力儀、地層剖面儀等均具有偵搜與辨識功能。因此，同步使用上述儀器作為海床探測之工具，較使用單一儀器(例如：側掃聲納)更能有效完成目標物偵搜、辨識與定位作業。
本研究探測過程中，數度至探測區域嘗試進行光學探測，使用水下攝影機並搭配潛水人員。然而受限於海氣象之天候限制，造成海流過強或能見度不佳；研究船定點錨泊之限制，難以有效將船舶定位於目標物位置上方，造成潛水人員無法進行作業。因此本研究中未取得光學影像驗證。
然而根據本研究探測經驗的累積與技術性的統整，目標物反覆偵獲並打撈回收的執行能力已建立完善，可滿足導引潛水人員下潛至目標物並加以掌握的需求。

Recovery of unattached offshore facilities or missing equipments is a challenging activity. Generally speaking, this activity involves a comprehensive procedure which includes: target characterization, searching, detection, verification, locating, reacquisition and salvage. Among them, target searching and detection are the most critical components of the whole procedure. The purpose of this investigation was dedicated in discussing the efficiency by the application of side-scan sonar, magnetometer and sub-bottom profiler simultaneously in searching, detecting, identifying and locating underwater stationary targets. Procedures of this research include:
1. Discussing the capabilities of instruments and verification cruises on target.
2. Discussing the salvage activity we conducted off Kaohsiung harbor on a depleted
anchor.
3. Estimating the practicability of the methodology.
According to the characteristics of these apparatus, the water depth, collected by echo sounder, is capable of expressing the relief of the seabed. Seabed sonographs, recorded by side-scan sonar, show that it is feasible to detect, verify and locate targets on the seabed. Sub-bottom profiler provides the sub-surface sedimentary information which can be used to detect buried targets. Magnetometer can detect environmental magnetic intensities, which can locate and determine the size of ferrous targets.
Two depleted anchors were recorded off Kaohsiung harbor on the navigation chart. A recovery plan was then arranged which included 4 phases: collection of anchor characteristics, initial field survey and target detection, target verification and locating, target recovery. The underwater searching equipment employed in this activity include: side-scan sonar, sub-bottom profiler, magnetometer, echo sounder, underwater positioning system (include GPS), remotely operated vehicle (ROV) and professional divers. The offshore working platform used in this activity was R/V Ocean Research#3.
Results of the initial search phase by side-scan sonar indicated there was only one potential target in the searching area. Follow up verification cruises confirmed acoustically that the target was an anchor with a piece of chain clogged on a block. The results of this investigation included the information such as the dimensions and the location of the anchor. Furthermore, the reason which caused the anchor being abandoned on the seafloor was derived. For underwater ferrous targets, such as anchor and chain cable, all of the aforementioned apparatus, have good potential for their detection and verification. It can be concluded that, applying these apparatus simultaneously can more effectively conduct searching, detecting, identifying and locating underwater stationary targets than by the application of a single instrument such as side-scan sonar system.
Optical verifications of this target by ROV were attempted, nevertheless, were not success due to the difficulties in maneuvering OR#3 into proper position. An attempt to recovery this target by divers was arranged. But due to bad weather and rough sea state, the divers were not even allowed to dive.
However, according to the experiences collected, a target reacquisition and recovery facility was built to fulfill the necessity of guiding divers to the target and lift it.

謝誌…………………………………………………………………………………..........................I
中文摘要………………………………………………………………………………………….…II
英文摘要……………...…………………………………………………………………………….III
目錄…………………………………..……………………………………………………….……..V
表目錄…………………………………………….…………………………………………..……VII
圖目錄………………………………………………………………………………………….….VIII
第一章 緒論…………………………………………………………………….…………….…….1
1-1 前言…………………………………………………………………………………….1
1-2 研究動機與目的……………………………………………………………………….1
1-3 前人研究與文獻回顧………………………………………………………………….2
1-4 前人文獻之啟發……………………………………………………………………….6
1-5 章節概要說明………………………………………………………………………….7
第二章 水下聲學概論與研究方法…………………………………….………………………….9
2-1 水下聲學概論………………………………………………………….………….…...9
2-1-1 聲波原理與特性.……………………………………………...........................9
2-1-2 海洋環境之聲學性質…………………………………..................................10
2-1-3 水下聲學系統……………...…………………………………………….…..11
2-2 探測理念與使用儀器…………………………………………………………….......12
2-3 探測航線規劃原則………………………………………………………….…….….13
2-3-1 探測儀器特性.………………………………………………........................13
2-3-2 目標物尺度與分布特性………………………………….............................14
2-4 資料處理流程……………………………………………………………….……….15
2-4-1 水深資料.……………………………………………………........................15
2-4-2 側掃聲納系統資料………………………………………….........................16
2-4-3 磁力資料…………………...………………………………………………..16
第三章 探測儀器基本原理………………………………………....…………….……….……..22
3-1 側掃聲納系統………………………………………………………………………..22
3-1-1 側掃聲納基本原理...……………………………………………….……….22
3-1-2 聲學影像成像原理………………………………………………….............25
3-1-3 聲納影像解析度之限制…………………………………………….………26
3-2 地層剖面儀……………………………………………………………......................27
3-2-1 地層剖面儀基本原理……………………….................................................28
3-2-2 地層剖面儀解析度之限制...…………………………..................................28
3-3 磁力儀…………………………………...……………………………………………29
3-3-1 磁力儀基本原理……………………………...……………………………...29
3-3-2 鐵磁性物質之物理特性……………...……………………………………...30
3-4 回聲測深儀………………………………………………...………………….....…...32
3-5 全球衛星系統………………………………………………...………………………32
第四章 目標物辨識準則………………...………………………………….………………........45
4-1 側掃聲納聲學影像之辨識………………..…………………………………….........45
4-1-1 目標物偵測能力之影響參數………………….………………………….....45
4-1-2 影響聲納影像品質之因素………………………………………………......48
4-1-3 側掃聲納影像辨識準則…………………………………………………......49
4-2 地層剖面影像之辨識…………………………………………………………...........51
4-2-1 海床底質狀況之辨識……………………………………………………......51
4-2-2 地層剖面儀成像類型與影像辨識特徵…………………………………......51
4-3 磁力資料辨識………………………….......................................................................53
4-3-1影響磁場之因素……………………………..…………………………….......53
4-3-2 鐵磁性物質距離估算………………………………………………………...55
第五章 目標物之定位與定位誤差……………………………………...……….……................78
5-1 常用之地理坐標系統與坐標系統之轉換………………………………..…………78
5-2 水下靜態目標物之定位與定位誤差………………….………….…………………83
5-2-1 研究船絕對位置之誤差...……………………………….……………….…83
5-2-2 拖魚與研究船相對位置之偏移及誤差…………….……………………....83
5-2-3 目標物與拖魚間相對位置之誤差……………………………….………....86
5-2-4 聲納影像處理之誤差………………………………….…………………....86
5-3 定位誤差之綜合說明………………………………….………….…………………86
第六章 探測實例分析………………….………………………………………..……….….......92
6-1 錨與鏈……………………………………………………………..……………........92
6-2 探測目的與區域概況……………………………………………...…....………..….92
6-4-1 探測目的……………………………………………………………..……...92
6-4-2 區域概況……………………………………………………………..……...93
6-3 搜尋策略……………….………………………………………………..……….......93
6-3-1 使用儀器……………………………………………………………..……...93
6-3-2 航線規劃……………………………………………………………..……...93
6-4 探測資料分析……………………………….……………………………….............94
6-4-1 側掃聲納探測資料…………………………………………………..……...94
6-4-2 地層剖面儀探測資料………………………………………………..……...96
6-4-3 磁力儀探測資料……………………………………………………..……..97
6-5 具體探測成果……………………………………………………………………….98
6-5-1 海床底質狀況………….…………………………………………………...99
6-5-2 目標物尺度與定位………………………………………….……………...99
6-5-3 錨鏈棄置原因探討………………………………………….……………...99
第七章 討論、結論與建議…………….………………………………...................................128
7-1 討論………………………………………..…..……………...…............................128
7-1-1 原探測錨鏈目標物消失原因之探討.…………………………………….128
7-1-2 研究方法驗證……………………………………………….…………….128
7-1-3 資料融合與定位精度之提升……………………………….…………….131
7-2 結論……………………………..………………………..…...…............................133
7-2-1 研究結果………….…………………………………………………….…133
7-2-2 本研究之貢獻……………………………………………….…………….134
7-3 建議……………………………..……………...…..................................................135
7-3-1 現場探測應注意事項…….……………………………………………….135
7-3-2 掌握水下靜態鐵磁性目標物之策略……………………….…………….137
7-3-3 自動化影像辨識之應用…………………………………….…………….137
參考文獻……………..……………………………………..........................................................166
附錄一…………………………….……………...………………………………………...…….170
附錄二…………………………………………....………………………………………...…….172

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