本研究使用主動聲納進行水下移動目標物之偵測與追蹤，利用移動目標物產生的都卜勒效應，提高目標物偵測率。本研究基本原理為利用 M 序列碼於匹配訊號處理後，因移動目標物所造成回聲頻率變化的高敏感度，亦即高都卜勒效應，再以所得頻移值濾除非目標物之回聲（如，環境混響），辨識出移動目標物。本研究包括現場實驗與資料分析。為瞭解港區環境的影響，本研究之實驗區域選定在兩個不同區域：其一為高雄港真愛碼頭，屬於內港型態，水深較淺底質屬淤泥；另一為美國 Woods Hole Oceanographic Institute（WHOI）實驗碼頭，屬於外港型態，水深較深來往船隻頻繁。兩港區之選擇以不妨礙交通運輸、傳輸距離因素、儀器設備運送方便為主。實驗設計以研究船拖曳一球體狀之水下載體模擬入侵目標物。其中，真愛碼頭乃是以 Airmar 為主動聲納系統發射中心頻率為 60 kHz 之訊號，而 WHOI 乃是以 iTC 為主動聲納系統發射頻率為 50 kHz 之訊號。為了與傳統 LFM 聲波回聲圖比較，以輪替方式依序發射 M 序列碼及 LFM 訊號。資料分析結果顯示，於 WHOI 所進行的實驗，M 序列碼在經過都卜勒過濾環境混響處理後，其目標偵測效能遠優於傳統 LFM，且亦可推算目標物在聲波波束方向上的徑向速度。但是，真愛碼頭實驗無法成功辨識目標物。雖然如此，本研究乃利用真愛碼頭所得的實驗資料，進行環境噪音及傳輸損失之分析，再配合預估之聲納參數值，進行港區反入侵偵測之聲納效能的評估。

The purpose of this study is to undertake the analysis of underwater detection and tracking using the Doppler phase-shift effects to enhance the detection capability. The fundamental principle is owing to the fact that the M-sequence may result in a better distinction to the echo returning from a moving target than the traditional LFM signal, in that the matched filter using M-sequence may need to estimate and compensate the doppler shift due to the moving target. The experiments were carried out in two harbors: True Love Pier of Kaohsiung Harbor (TLPKH) and Woods Hole Hrabor (WHH). The TLPKH is an inner harbor, with sediment being mud, while the WHH is an open types, suitable for target detection. The results from WHH experiment has shown that when the results from M-sequence and traditional LFM signal were compared, the M-sequence yields much better capability both in detection and estimation of the speed of the moving target along the beam axis. However, the signals from TLPKH were too weak for analysis, therefore, the data from TLPKH were used to analyze the environmental noise, transmission loss, which were combined with estimated values for sonar parameters to conduct the sonar performance analysis in an harborenvironment.

第一章 緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 3
1.3 研究方法 4
1.4 論文範疇 4
第二章 實驗設計與資料擷取 6
2.1 實驗場位置規劃 6
2.2 水聲量測方法與儀器 7
2.3 訊號擷取系統之設計與儀器校正 10
2.4 都卜勒實驗過程 11
2.5 都卜勒實驗儀器 13
2.6 軟體介紹 14
2.7 訊號處理 15
2.8 結語 19
第三章 都卜勒水下目標物偵測 20
3.1 匹配濾波 21
3.2 展頻系統 21
3.3 都卜勒頻移 22
3.4 主動聲納脈衝 23
3.5 都卜勒頻移-延遲時間模糊函數 24
3.6 移動目標物偵測 26
3.7 結果與討論 28
第四章 高雄港區資料分析與聲納效能評估 34
4.1 環境噪音資料 34
4.2 主動聲納方程式 37
4.3 海水對聲能之吸收 40
4.4 典型淺海傳播模式：珮克瑞斯波導 41
4.5 決策判斷與偵測閾 43
4.6 偵測閾跟估算 44
4.7 聲納方程式之實例應用 45
4.7.1 目標物強度對聲納偵測之影響 46
4.7.2 干擾聲納操作之因素由噪音所主導 48
4.7.3 干擾聲納操作之因素由混響所主導 49
4.8 結語 51
第五章 結論與建議 52
5.1 結論 52
5.2 建議 54
附錄A iTC-6050c 接線圖 59
附錄B 訊號擷取系統之接地雜訊干擾 60
附錄C iTC-6050c 校正 61
附錄D 修正訊號擷取卡 64
附錄E 取樣定理與訊號解析度 66
附錄F 類雜訊編碼與位移暫存器 68

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