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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
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dc.contributor.advisor | 郭振華(Jen-Hwa Guo) | |
dc.contributor.author | Tsung-Yi Lee | en |
dc.contributor.author | 李宗益 | zh_TW |
dc.date.accessioned | 2021-06-08T03:27:52Z | - |
dc.date.copyright | 2019-12-02 | |
dc.date.issued | 2019 | |
dc.date.submitted | 2019-11-24 | |
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Groen, 'Motion estimation for synthetic aperture sonars,' in EUSAR 2012; 9th European Conference on Synthetic Aperture Radar, 2012, pp. 78-81: VDE. [29] R. W. Sheriff, 'Synthetic aperture beamforming with automatic phase compensation for high frequency sonars,' in Proceedings of the 1992 symposium on autonomous underwater vehicle technology, 1992, pp. 236-245: IEEE. [30] M. Berkhout, 'An integrated 200-W class-D audio amplifier,' IEEE journal of solid-state circuits, vol. 38, no. 7, pp. 1198-1206, 2003. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/21156 | - |
dc.description.abstract | 本研究以提升聲納微導航技術之參考地圖特徵為主軸,選用擺尾型機械魚為載體來執行模擬,並搭配具高解析度之合成孔徑聲納。因機械魚的擺動運動及非完美剛性結構的特點,使聲納陣列產生橫移(sway)誤差,讓輸入回聲訊號會隨之抖動,導致合成參考地圖失真的問題。故在本研究導入演算法來估測並修正此誤差現象,提升參考地圖特徵在微導航技術上之精準度,利於未來微導航技術運用。
本文中以簡介合成孔徑聲納為基礎,進一步比較合成孔徑及真實孔徑對影像的解析能力,和相關影響影像解析之參數,並介紹合成孔徑常用的ω-k、CS、ACS演算法。利用合成孔徑聲納特性,選用冗餘相位偏移中心演算法估測橫移誤差,使合成孔徑聲納探測過程,雖受橫移誤差影響,但仍具有足夠估測能力,得以校正參考地圖,達成輔助微導航系統之目的。 接續以多目標物為模擬場景,討論載具目標物於不同條件下,對於橫移誤差的估測能力。最後將針對此模擬研究應用在機械魚橫移運動估測上,並於各式模擬的比較中做出結論。 | zh_TW |
dc.description.abstract | This purpose of this study is to improve the performance of the micro-navigation system for describing the seabed image. The high resolution sonar image create from information to the synthetic aperture sonar (SAS). When the SAS system placed on the hard structure robotic fish, it will receive not only the shake signal but the sway error, forming the blurred image. In order to correct the sway error of the SAS system, this thesis will discuss the method of the estimation of the sway error for improving accuracy of the micro-navigation system.
This thesis will introduce the fundamental of the SAS, compare the difference of synthetic aperture and real aperture to discuss the resolution and interferences of the sonar image. Continuously, bring in the commonly used sonar imaging algorithm, as the ω-k, CS and ACS algorithm, in this research. As the characteristic of the SAS system, it can apply the redundancy phase center (RPC) algorithm to estimate the phase error from the raw data from, and prove that it can get the enough compensate to correct the sonar image though the raw data including the sway error. Discussing the multiple cases of the targets can get the more clearly discussion of the sway error. | en |
dc.description.provenance | Made available in DSpace on 2021-06-08T03:27:52Z (GMT). No. of bitstreams: 1 ntu-108-R06525036-1.pdf: 6807316 bytes, checksum: 7db67902b09f7e04ab4f14d6e70a4a7c (MD5) Previous issue date: 2019 | en |
dc.description.tableofcontents | 誌 謝 ii
中文摘要 iii 英文摘要(ABSTRACT) iv 目 錄 v 圖 目 錄 viii 表 目 錄 xi 符 號 表 xii 第一章 導論 1 1.1 研究背景與動機 1 1.2 文獻回顧 2 1.3 各章節概要 4 第二章 合成孔徑聲納的原理 6 2.1 合成孔徑聲納簡介 6 2.2 合成孔徑聲納的解析度 8 2.2.1 側掃範圍的解析度 11 2.2.2 合成孔徑軌跡的解析度 12 2.3 孔徑的帶狀地圖(Strip Map)資料 17 2.3.1 孔徑的天線效應 17 2.3.2 帶狀地圖的資料 19 2.4 合成孔徑影像的演算法 23 2.4.1 ω-k演算法 23 2.4.2 Chirp Scaling演算法 26 2.4.3 Accelerated Chirp Scaling演算法 32 2.5 建立目標物模型 34 2.5.1 成像方法的比較 35 2.6 小結 46 第三章 合成孔徑聲納對機械魚的運動補償 48 3.1 機械魚的運動誤差 48 3.2 機械魚前進方向的運動的速度限制 49 3.2.1 機械魚的速度限制 49 3.2.2 機械魚前進方向的相位補償 50 3.3 合成孔徑聲納側掃方向的誤差估測 51 3.4 橫移誤差的修正 55 3.4.1理想弦波估測 55 3.4.2機械魚的誤差估測 58 3.5 機械魚的微導航 61 3.6 結論 61 第四章 機械魚對橫移誤差的估測能力 63 4.1 前言 63 4.2 目標位置討論 63 4.2.1 移動目標物沿線軌跡的位置 63 4.2.2 海床特徵形狀的估測能力 67 4.3 小結 71 第五章 結論及未來展望 72 5.1 結論 72 5.2 未來展望 74 參考文獻 75 附錄 78 | |
dc.language.iso | zh-TW | |
dc.title | 使用海床聲學特徵估測機器魚橫移運動之模擬研究 | zh_TW |
dc.title | Simulation Study on Sway Estimation of Robotic Fish Using Acoustic Features of Seafloor | en |
dc.type | Thesis | |
dc.date.schoolyear | 108-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 江茂雄,黃盛煒 | |
dc.subject.keyword | 微導航系統,機械魚,合成孔徑聲納,ACS演算法,RPC演算法, | zh_TW |
dc.subject.keyword | micro-navigation system,robotic fish,synthetic aperture sonar,ACS algorithm,RPC algorithm, | en |
dc.relation.page | 88 | |
dc.identifier.doi | 10.6342/NTU201904310 | |
dc.rights.note | 未授權 | |
dc.date.accepted | 2019-11-25 | |
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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