碩士 / 國立臺灣大學 / 造船工程學系 / 85 / In this thesis, 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 the transponders by the use of range
measurements to the 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 thesis develops
computational algorithms for the optimal estimation of vehicle
position using Kalman Filter techniques. 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
bynumerical simulations and a series of field experiments. It is
shown that current method improves the tracking performance over
prior techniques based on fix computation method.
| Identifer | oai:union.ndltd.org:TW/085NTU00345028 |
| Date | January 1997 |
| Creators | Lin, Ming-Kung, 林明坤 |
| Contributors | Jenhwa Guo, 郭振華 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 64 |
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