水下無人搖控潛具(Remotely operated vehicles; ROVs) 動力參數的鑑定通常是經由搭載於載具上的感測元件所測得的資料求得。然而一般載具不見得配備可供參數鑑定使用的感測元件。為了解決這個問題, 越來越多的研究傾向於使用影像進行載具定位以鑑別載具的參數。其中一種影像定位的方法是利用架設於水槽邊的攝影機來記錄載具的移動路徑,再利用投影映射法(Projective mapping)定出載具的實際位置。此方法不但可適用各種不同的載具, 更不必用到載具上的感測裝置。但水面波動會導致拍攝到的載具影像扭曲模糊, 且利用單一攝影機拍攝載具的運動狀態也會有遠處景物解析度較差的問題。為了改善影像定位的精度, 本研究利用兩架水下攝影機來拍攝載具的運動, 直接於水面下拍攝載具的運動狀態, 避免載具於接近水平面的地方運動所引起的水波的干擾。而為了改善攝影機拍攝遠處景物解析度不足的問題, 本研究將載具的運動控制在靠近攝影機附近,然而因為攝影機視角的關係,載具很有可能會運動到攝影機可視範圍之外, 因此同時利用另一架攝影機來拍攝載具的運動狀態,以補足所有的運動資料。並將實驗場地由室外移至室內,減少陽光反射造成的影響。將所擷取的載具運動狀態的影像經過處理定位出載具時序列的座標位置,再經由數值最佳化方法將與該運動狀態相關的動力參數鑑別出來。

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1 緒論1
1.1 研究動機與目的. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 研究背景. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.3 論文架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 動力模式與參數鑑別5
2.1 座標系統. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 運動方程式. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 參數鑑別順序. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 載具影像定位15
3.1 投影映射法. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2 影像擷取與分析. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4 推進器鑑別24
4.1 實驗規劃與設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.2 量測與分析. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5 鑑別實驗規劃30
5.1 實驗設備. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.2 實驗設計規劃. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6 參數鑑別36
6.1 目標函數. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6.2 鑑別結果. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7 結論與建議41
7.1 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.2 建議. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

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