碩士 / 國立高雄應用科技大學 / 電子工程系 / 106 / Ocean data sampling is an important technique for observing weather and managing fishery resources in Taiwan. Underwater glider is a kind of unmanned water vehicle that can be endowed with long-term and dangerous underwater detection tasks, to save labor cost, to intelligently gather and to effectively record marine data. In order to cruise in sea for a long time and complete the task of collecting marine information, the navigation system and path planning in sea are significant issues because the oceanic environment has quite a lot of variability, which makes the difficulty of positioning and path planning to affect the task completion. If there is no qualified positioning system, it will be not able to complete the mission requirements, even the underwater glider could be lost or damaged. Thus, a good positioning system of the underwater unmanned glider is a key to slove the problems of the path planning, underwater working time and energy consumption of the glider. Therefore, to improve the traditional positioning method, in this paper, a Kalman filter with Genetic Algorithm is proposed to estimate the glider position and mitigate the positioning error. The random search of genetic algorithm is helpful to discover the optimal solution of Kalman filter to enable the proposed system quickly adapting to various environmental variability problems. The research results show that the average error of the proposed approach with Kalman filter is reduced by 27%. When the genetic algorithm is introduced to work with Kalman filter, the average error is reduced by 33%. The contribution of this work has presented a milestone and is helpful to develop a position technology of underwater vehicles.
| Identifer | oai:union.ndltd.org:TW/106KUAS0393216 |
| Date | January 2018 |
| Creators | TU, MENG-JIA, 凃孟佳 |
| Contributors | HORNG, MONG-FONG, SHIEH, CHIN-SHIUH, 洪盟峰, 謝欽旭 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 65 |
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