太陽能無人船探測路徑規劃及誤差分析之研究

Abstract

太陽能發電系統是由太陽能板，負載及儲能裝置所組成，配合上合適的電力管理方法，此系統便能獨立的進行運作。本研究旨在開發一台搭載太陽能輔助電力的智慧型無人船舶(ASC)，考慮太陽板所能產生之電力，並評估其電力對探測任務之影響。本文首先簡介太陽能發電系統中各個物件之特性，利用此特性估測出不同時間點下太陽能板的發電量，以及智慧型無人船舶執行探測任務時所需耗費之電量，並針對其任務提出合適的探測空間解析度及總探測時間，最後加入誤差之估測理論，考慮探測空間解析度以及總探測時間對探測結果之效應，結合兩者發展出一套可以估測其探測誤差大小的方法，同時利用隨機場模擬並確認此誤差分析方法之可行性。最後使用太陽能驅動無人船舶在河道中施行水深量測，驗證本文所提出之探測誤差估測方法之正確性。

A solar power system is composed of the Photovoltaic (PV) cell, load and energy storage device. The power system can be operated independently with an appropriate energy management. In this study, an autonomous surface craft (ASC) with a solar power system was developed. Survey mission accuracy was evaluated by considering the energy available from its solar panels. This article first briefly mentions the characteristic of components in a solar power system. Then estimation of the solar power generation in a day time and the energy consumption of ASC during a survey mission were formulated. The estimation theory of survey error is employed by taking into account of the effect caused by spatial resolution, and the total survey time parameters. The feasibility of the survey error prediction was then demonstrated by random field simulations. Finally, the ASC was used to conduct survey mission in a river bank to verify the proposed survey error prediction algorithm.