碩士 / 國立中山大學 / 海下科技研究所 / 103 / This study is to develop a range-only positioning approach that integrates the real-time measurements of a pressure sensor, the velocity evaluation from the Doppler velocity log (DVL) and the range information between a single seabed transponder and an underwater vehicle. This technique was used to effectively reduce the cost of deployments of the seafloor transponders, to precisely navigate the underwater vehicles, and to practically improve the variation of the update sampling rate from all rigs. The Extended Kalman filter and the Adaptive Kalman filter were employed to integrate the slant-range measurements from a single transponder, the velocity data from a DVL, the depth data from the pressure sensor, and the attitude angle from a gyrocompass. As a result, both of the filters are called the Extended Kalman filter Slant-range positioning system (EKF-SR) and the Adaptive Kalman filter Slant-range positioning system (AKF-SR), respectively. Numerical simulations and field experiments were conducted to test the performance of the proposed algorithm of this single-transponder underwater navigating method. However, the limitations of the initial condition will be the indicator to decide which filter should be better and the vehicle trajectory will affect algorithm convergence performance. The simulated and experimental results demonstrate that the proposed algorithm is robust to rectify the measurement errors and to provide accurate position for an underwater vehicle.
| Identifer | oai:union.ndltd.org:TW/103NSYS5281001 |
| Date | January 2014 |
| Creators | Chia-Min Lin, 林家民 |
| Contributors | Hsin-Hung Chen, 陳信宏 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 114 |
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