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題名 | 短基線水下聲學定位系統估算模式之研究=An Improve Study of Short Baseline Acoustic Position System |
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作者 | 鄭文惠; 梁卓中; 廖清照; Cheng, W. H.; Liang, C. C.; Liao, C. C.; |
期刊 | 中國造船暨輪機工程學刊 |
出版日期 | 19990800 |
卷期 | 18:3 1999.08[民88.08] |
頁次 | 頁31-42 |
分類號 | 351.924 |
語文 | chi |
關鍵詞 | 動態定位系統; 短基線聲學定位系統; 聲速; 精確度; Dynamic positioning; SBL system; Sound speed; Accuracy; |
中文摘要 | 短基線聲學定位系統(Short Baseline System, SBL)在現代化水下測量技術上已 廣泛的被應用,尤以海域工作船對此系統之精確度之要求更加重視。因海域工作船動態定 位系統為執行水下工程,需要精確的水下短基線聲學定位系統以測知船之位置,然而短基 線傳統估算模式因水下聲速不易精確量測,造成估算位置之誤差,故本文針對水下短基線 聲學定位系統,提出兩種改善精確度之估算模式:(1)短基線幾何對稱修正模式:係利用已 知水深及幾何關係法進行修正船與水下目標之相對位置及水下平均聲速;(2)短基線幾何不 對稱模式:係將安裝在船底之聲學感應器作幾何不對稱式排列之技巧,所形成之獨立軌跡 方程組求解相對位置及水下平均聲速。此外,經由聲學實驗和佈置聽音器相對位置量測之 結果驗證本文所建立之短基線定位估算模式具有高度之精確度。根據數值分析與實驗結果 比較,短基線幾何對稱修正模式對位置之修正能力快且精確度高;而在短基線幾何不對稱 模式中亦對水中聽音器安裝之數量對精確性之影響也提出評估。 |
英文摘要 | Dynamic positioning of offshore vessel is a modern underwater survey technique which initially uses sensor system to estimate the relative position of the vessel with respect to the subsea sensor. Sensor system of short baseline acoustic positioniing system (SBL system) can maintain a desired position in a horizontal plane as closely as deemed necessary. Then, the uncertain and complex sound speed is a function of temperature, salinity and depth (pressure); its accuracy of SBL system is less and much difficult to hold. For rise and hold accuracy of the measurement position, this work presents two modes of SBL acoustic system of offshore vessels. Symmetrical geometric correct mode of SBL system can verify the computation depth by the known depth of sea and using the geometrical configuration to correct the position coordinates of offshore vessel relative to subsea sensor. Unsymmetrical mode of SBL system, sets the sound speed as an unknown and performs a technique which solved the independent tracking equations to get the position coordinates of offshore vessel relative to subsea sensor. Finally, this study performed experiments to verify the accuracy of these two modes of SBL system. |
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