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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 郭振華 | |
dc.contributor.author | An-Ting Hsiao | en |
dc.contributor.author | 蕭安廷 | zh_TW |
dc.date.accessioned | 2021-06-08T02:40:47Z | - |
dc.date.copyright | 2018-03-01 | |
dc.date.issued | 2018 | |
dc.date.submitted | 2018-02-22 | |
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[2] Snyder, Jeff. 'Doppler Velocity Log (DVL) navigation for observation-class ROVs.' OCEANS 2010. IEEE, 2010. [3] B. Mikael, “High performance Doppler-inertial navigation experiment result,” OCEANS 2000 MTS/IEEE Conference and Exhibition, pp. 1449-1456, 2000. [4] Whitcomb, Louis, Dana Yoerger, and Hanumant Singh. 'Advances in Doppler-based navigation of underwater robotic vehicles.' Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on. Vol. 1. IEEE, 1999. [5] R. M. Eustic, L. L. Whitcomb, H. Singh, and M. Grund, “Experimental results in synchronous-clock one-way-travel-time acoustic navigation for autonomous underwater vehicles,” 2007 IEEE International Conference on Robotics and Automation, pp. 4257-4264, 2007. [6] S. E. Webster, R. M. Eustice, H. Singh, and L. L. Whitcomb, “Advances in single-beacon one-way-travel-time acoustic navigation for underwater vehicles,” The International Journal of Robotics Research, 31(8) 935–949, 2012. [7] M. V. Jakuba, C. N. Roman, H. Singh, C. Murphy, C. Kunz, C. Willis, T. Sato and R. A. Sohn, “Long‐baseline acoustic navigation for under‐ice autonomous underwater vehicle operations,” Journal of Field Robotics, vol. 25, pp. 861-879, 2008. [8] Smith, S. M., and D. Kronen. 'Experimental results of an inexpensive short baseline acoustic positioning system for AUV navigation.' OCEANS'97. MTS/IEEE Conference Proceedings. Vol. 1. IEEE, 1997. [9] F. M. Jaffré, T. C. Austin, B. G. Allen, R. Stokey, and C. J. Von Alt, “Ultra short baseline acoustic receiver/processor,” in Oceans 2005-Europe, p.p. 1382-1385, 2005. [10] C. F. Huang, T. Yang, J. Y. Liu, J. Schindall, “Acoustic mapping of ocean currents using networked distributed sensors,” The Journal of the Acoustical Society of America, 134(3), 2090-2105, 2013. [11] J.-H. Park and A. Kaneko, “Assimilation of coastal acoustic tomography data into a barotropic ocean model,” Geophysical research letters 27, 3373–3376, 2000. [12] P. Elisseeff, H. Schmidt, M. Johnson, D. Herold, N. R. Chapman, and M. M. McDonald, “Acoustic tomography of a coastal front in Haro Strait, British Columbia,” The Journal of the Acoustical Society of America, vol. 106, 169–184, 1999. [13] K. Yamaguchi, J. Lin, A. Kaneko, T. Yayamoto, N. Gohda, H.-Q. Nguyen, and H. Zheng, “A continuous mapping of tidal current tructures in the Kanmon Strait,” Journal of oceanography, vol. 61, 283–294, 2005. [14] X.-H. Zhu, A. Kaneko, Q. Wu, C. Zhang, N. Taniguchi, and N. Gohda, “Mapping tidal current structures in Zhitouyang Bay, China, using coastal acoustic tomography,” IEEE Journal of Oceanic Engineering, vol. 38, 285–296, 2013. [15] C.-F. Huang. Moving vehicle tomography using distributed networked underwater sensors. Report for the research program supported by Ministry of Science and Technology, R. O. C., Institute of Oceanography, National Taiwan University, 2016. [16] A. S. Gadre and D. J. Stilwell, “Toward underwater navigation based on range measurements from a single location,” 2004 IEEE International Conference on Robotics and Automation, pp. 4472-4477, 2004. [17] T. L. Song, “Observability of target tracking with range-only measurements,” IEEE Journal of Oceanic Engineering, vol. 24, pp. 383-387, 1999. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/20140 | - |
dc.description.abstract | 本研究利用單一聲音信標所發出來的聲音信號來輔助自主式水下載具在水中的航行與定位。自主式水下載具運用擴展式的卡爾曼濾波器來做為定位演算方法,利用運動模型與內部搭載的感知器回授值做為定位依據,並利用量測水中的信標發出的聲音推估載具本身與信標之間的距離達到輔助定位。
本研究的水下聲標為水聲海洋層析法網路中所設定的一個水下聲學節點,為了分辨水下聲學傳感器節點所量測到的時間訊號,本研究採用常數錯誤報警率偵測器來做為篩選多重路徑聲音到達時間的依據,選定到達時間即可計算聲音的傳遞時間,進而推估載具與聲標的距離。在沒有收到聲標信號時,水下載具採用其運動模型推估本身的位置,等量測值出現方進行狀態的更新。本文也討論載具與聲標間距離量測值對系統定位的不確定性的影響。 | zh_TW |
dc.description.abstract | This work is a study of localization method of an autonomous underwater vehicle (AUV) moving in the water using acoustic signals from a single beacon. An Extended Kalman Filter is employed to improve the vehicle localization. According to the vehicle motion model and the sensor measurements, the AUV position can be calculated by the dead-reckoning and updated by the signal from the beacon.
The beacon in the study is one of the sensor node for the ocean acoustic tomography which is a method to measure the current velocity and temperature field using the time-of-flight of acoustic signals. The AUV carries a node while it transmits and receives signals of m-sequence from one of the fixed sensor nodes. Time of flight between the AUV and the node is distinguished from several acoustic rays from a single beacon using the constant false alarm rate detector. The arrival time is used to estimate the distance from the AUV and the beacon. Error covariance of the AUV position estimates are compared with the GPS location of the AUV. The uncertainty of the position estimates are found to be affected by the distance of the AUV to the sensor node. | en |
dc.description.provenance | Made available in DSpace on 2021-06-08T02:40:47Z (GMT). No. of bitstreams: 1 ntu-107-R03525018-1.pdf: 2307020 bytes, checksum: 81913e9f80fe3faaff3e54c544e7b5c0 (MD5) Previous issue date: 2018 | en |
dc.description.tableofcontents | 誌謝 I
摘要 II Abstract III Contents IV Figures VII Tables X Symbols XI Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature Review 2 1.3 Thesis Organization 4 Chapter 2 AUV localization 5 2.1 State description 5 2.2 State Prediction 7 2.3 Measurement update 10 Chapter 3 Measuring Distance 12 3.1 Acoustic source 12 3.2 Arrival time 16 3.3 Arrival time determination 23 3.3.1 Maximum peak 23 3.3.2 First arrival peak 27 3.3.3 Constant False Alarm Rate 30 3.3.4 Comparison of Errors 32 Chapter 4 Simulation and Experiment 33 4.1 EKF simulation 33 4.2 EKF simulation for one acoustic sensor node 38 4.3 Experiments 43 4.3.1 Vehicle 43 4.3.2 Acoustic sensor nodes 45 4.4 Configuration of Experiment 46 4.5 EKF experiment for one acoustic sensor node 48 Chapter 5 Conclusion 55 Reference 57 | |
dc.language.iso | en | |
dc.title | 利用單一聲標進行自主式水下載具定位之研究 | zh_TW |
dc.title | Localization of An Autonomous Underwater Vehicle Using Acoustic Sounds from a Single Beacon | en |
dc.type | Thesis | |
dc.date.schoolyear | 106-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 江茂雄,黃千芬,林顯群 | |
dc.subject.keyword | 自主式水下載具,水下定位,水聲海洋層析法,常數錯誤報警率, | zh_TW |
dc.subject.keyword | AUV,underwater navigation,acoustic travel time,CFAR, | en |
dc.relation.page | 59 | |
dc.identifier.doi | 10.6342/NTU201800644 | |
dc.rights.note | 未授權 | |
dc.date.accepted | 2018-02-22 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 工程科學及海洋工程學研究所 | zh_TW |
顯示於系所單位: | 工程科學及海洋工程學系 |
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