碩士 / 國立臺灣大學 / 工程科學及海洋工程學研究所 / 106 / The autonomous underwater vehicle (AUV) can be deployed to harvest deep ocean monitoring data from seafloor sensors, which turns out to be an economic method. The underwater optical communication systems that have wide bandwidth and high data rate are utilized in this concept for data mule. In order to optimize the transfer rate, an AUV needs to estimate and locate the center point of optical signal coverage area. The light intensity distribution based navigation algorithm is proposed in this study. Theoretical analysis and Monte Carlo simulations can prove all light intensity distributions measured on any straight path within communication range are normal distribution and their standard deviations are same. This algorithm presents a method to estimate the location of center point by measured standard deviations of distribution. Particle filter is implemented to update the belief of location with the standard deviation measurement of each straight AUV path. An underwater vehicle equipped with wireless optical communication device is designed for sea trial. The data transmission experiment was conducted between the vehicle and the seafloor sensor. The navigation algorithm was tested using the experimental data, which locates the center point within a designated error bound.
| Identifer | oai:union.ndltd.org:TW/106NTU05345045 |
| Date | January 2018 |
| Creators | Yang Weng, 翁洋 |
| Contributors | 郭振華 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 60 |
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