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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/48667
標題: | 海洋觀測無人船舶設計之研究 Design of an Autonomous Surface Craft for Oceanographic Survey |
作者: | Ding-Chyau Lee 李定橋 |
指導教授: | 郭振華 |
關鍵字: | 無人船舶,小水面雙體船,船舶自動辨識系統,延伸型卡爾曼濾波器,Google Maps, Autonomous Surface Craft,Small Waterplane Area Twin Hull,Automatic Identification System,Extended Kalman Filter,Google Maps, |
出版年 : | 2010 |
學位: | 碩士 |
摘要: | 智慧型無人船舶主要用於河流與近岸環境執行自主式任務,其主要任務為蒐集海洋資料、探測水下地形、資料傳輸與輔助救難等相關技術。本研究之目的為太陽能驅動之智慧型無人船舶之構造設計、運動控制器設計、定位導航系統的演算法與人機介面的建構。在船舶設計方面包含了機構硬體、船舶重要參數計算、阻力性能與耐海性能之評估。船型上選用為小水面雙體船,與一般船型比較,在性能、使用和建造等方面可以看出這種船型擁有優異的耐海性、寬廣的工作平台及良好的操縱穩定性能。在無人船的硬體規劃上使用了船舶自動辨識系統,此系統結合了岸上基地台與無人船的通訊以及無人船GPS衛星定位的功能。無人船運動控制器設計採用比例-積分-微分型,再根據都卜勒聲納與GPS衛星的回授資料使誤差收斂為一小值。定位演算法採用都卜勒聲納與GPS衛星定位資料並結合延伸型卡爾曼濾波器之理論。無人船的人機介面系統結合了Google Maps的運用,在本研究中架設一互動網站,只要在能連上網路的地方就能隨時監測無人船狀態以及設計探勘路徑,讓使用者更加方便於無人船的操作。 The autonomous surface craft (ASC) is as small size craft to perform autonomous survey missions mainly in river and coastal waters. Collecting oceanographic data, survey underwater environments, data transmission, and auxiliary rescue are the missions for the ASC. This study provides the design and the development of a solar-powered autonomous surface craft. It discusses the mechanical design, the motion controller design, the localization and navigation algorithm, and the construction of human-machine interface. The ASC design includes mechanical design, hydrostatics data and principal dimensions values, resistance performance, and seakeeping performance. Small waterplane area twin hull (SWATH) is selected for the ASC type. Comparing to the general vessel, SWATH has a good seakeeping performance, broad platform area, and stable maneuvering function which these characteristics are required in this study. Automatic Identification System (AIS) is used for communication with the shore base station and GPS localization function. The motion controller used PID control theory, combining with DVL and GPS information to satisfy a radius of acceptance. Localization algorithm integrates sensors data and extended Kalman filter theory. Human-machine interface is build by an interactive website which combines with Google Maps. Users could monitor the ASC information and design survey paths in any place where the ASC could connect the internet. These functions made the missions execution more convenient for users. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/48667 |
全文授權: | 有償授權 |
顯示於系所單位: | 工程科學及海洋工程學系 |
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檔案 | 大小 | 格式 | |
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ntu-99-1.pdf 目前未授權公開取用 | 5.58 MB | Adobe PDF |
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