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題 名 | 自主式水下載具長基線聲波定位系統之淺海域性能測試=Sea Tdsts of a Long Baseline Acoustic Navigation System for Autonomous Underwater Vehicles |
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作 者 | 郭振華; 邱逢琛; 林明坤; | 書刊名 | 中國造船暨輪機工程學刊 |
卷 期 | 18:4 1999.11[民88.11] |
頁 次 | 頁13-23 |
分類號 | 444.9 |
關鍵詞 | 水下導航; 水下載具; Underwater navigation; Underwater vehicles; |
語 文 | 中文(Chinese) |
中文摘要 | 本文的目的在發展一套適合應用於自主式水下載具的長基線定位系統。以聲波訊 號傳送時間來估計距離長度,易受水中雜訊、折射、繞射等現象干擾,造成誤差。傳統長基 線系統以幾何計算來定出待測物體座標,使得距離上的誤差反映到推算出來的載具位置,這 種擾動的回授,造成控制系統效能降低。根據載具運動中的連續量測需要,我們將量得的距 離經卡爾曼濾波器線上處理,得到符合載具運動趨勢的平滑軌跡。此外,考慮實際雜訊干擾 與均零值白雜訊的差異,本文以Mahalanobis Distance 作判斷的基準,剔除正規分佈邊緣的 量測值,以增加濾波系統的強健性。由海域實驗的結果,證實這套演算法可成功的偵測偏差 過大的不良點,得到平滑運動軌跡,有效地提高自主式水下載具導航系統的效能。 |
英文摘要 | In this paper, we present an acoustic navigation system for the Autonomous Underwater Vehicle, AUV-HM1. In an acoustic transponder navigation system, the vehicle position is determined in relation to transponders by the use of range measurements to transponders, and the distances between transponders. Position fixes are usually inaccurate due to the inaccuracy of the sound speed assumption, and the multi-path phenomenon of sound wave propagation. This paper develops computational algorithms for the optimal estimation of vehicle position using Kalman Filter technique. The robustness of the estimation process is enhanced through outlier rejection. Outliers are rejected using the Mahalanobis Distance which is well known in regression analysis. Our algorithm is tested by a series of field experiments. It is shown that current method improves the tracking performance over prior techniques based on fix computation method. |
本系統中英文摘要資訊取自各篇刊載內容。