碩士 / 育達科技大學 / 資訊管理所 / 106 / "Submarine-made" project is the country's largest military investment in near future. In the development of submarines or underwater unmanned vehicles (UUV), underwater navigation is one of the most important issues. In order to realize the navigation, the underwater vehicle must be capable of accurate position estimate.
In order to maintain stealth, underwater vehicles use inertial navigation system. However, as time increases, the navigation system will accumulate errors, resulting in navigation bias, requiring external calibration. No regular calibration, even the best inertial navigation system cannot be applied. The use of GPS signals can be calibrated underwater submersible, but the electromagnetic signal in the water attenuation is serious, underwater vehicles need to float to the surface to receive GPS signals. The underwater acoustic location requires a sound source to transmit a specific acoustic signal, which is positioned by receiving the beacon source signal from the beacon. Beacon is a sound, light or electromagnetic wave source, the beacon position must be fixed, can produce a specific signal to determine the direction, orientation or position. Beacon can be used as underwater GPS for underwater navigation.
Underwater vehicles in civilian or military use more and more widely, hidden navigation has been an urgent problem to be solved. Therefore, this paper proposes a dynamic passive positioning method, which is based on the hybrid coordinate system filtering technique and the recursive feedback estimation fusion algorithm to estimate the dynamic position and velocity of the underwater vehicle autonomous navigation. The method considers an underwater vehicle using a passive sensor network, wherein the composition comprises a plurality of beacons, a passive array sonar receives signals from the beacons, and utilizes multi-source information fusion techniques to process angle-only measurement data.
In this paper, the use of scenarios of two beacons and an UUV and the use of Monte Carlo computer simulation technology, repeat the experiment to verify the effectiveness of this method. Compared with the algorithm of information feedback, the information feedback algorithm makes the convergence speed of each local processor greatly improved, and the algorithm also significantly improves the accuracy of local processor in navigation positioning. From the simulation results, we can see that the algorithm proposed in this paper is suitable for navigation positioning of underwater vehicles.
| Identifer | oai:union.ndltd.org:TW/106YDU00396008 |
| Date | January 2018 |
| Creators | CHEN, ZHENG-KAI, 陳政凱 |
| Contributors | Fong, Li-Wei, 馮力威 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 60 |
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