碩士 / 國立成功大學 / 工程科學系碩博士班 / 101 / In this thesis, an underwater localization system is designed and implemented. From reviewing the existing underwater positioning technologies, we develop the underwater localization algorithms from the basic positioning principles. Because radio waves are extremely damped in an underwater environment, we use ultrasonic signals to replace it for communication. The underwater ultrasonic localization system obtains position information by using the TOA (Time of Arrival) ranging method and Pythagorean Theorem. In addition, with the combination of GPS system, the whole localization mechanism can be applied to various underwater positioning ranges.
In this thesis, we also build the vehicle and ultrasonic nodes to implement the localization experiments, and then we can verify the validity of the underwater localization system. The results show that the precision of the positioning system in one-dimensional is about 3 cm. The experiment testing in a 229 cm x 229 cm environment indicates the precision of the positioning system in two-dimensional is 5~6 cm. And through selecting the information from GPS, the precision of the GPS will reach 1~2 m. The experiment which combines ultrasonic positioning system and GPS represents that the localization mechanism can be applied to various underwater positioning ranges.
| Identifer | oai:union.ndltd.org:TW/101NCKU5028077 |
| Date | January 2013 |
| Creators | Ting-WeiHuang, 黃亭瑋 |
| Contributors | Jung-Hua Chou, 周榮華 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 59 |
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