本研究主要開發一套水下光源追蹤之功能，增加複合模式水下載具的中繼電力/訊號管理系統(Power/Signal Management System，PSMS)之追蹤功能。將鏡頭裝設在步進馬達上，使垂向追蹤可以準確地到位。使PSMS從原本一維之偏擺(Yaw)追蹤，開發並整合成一套包含偏擺、垂向及前後之三維追蹤系統。
水下追蹤以聲納為主，但由於價格昂貴，所以用一套以影像辨識為基礎之水下追蹤方式。利用強光當做目標物，經由閾值計算擷取出目標區塊並進行追蹤功能。距離愈遠面積愈小，距離愈近則反之，以目標區塊面積之變化為依據並進行前後追蹤，利用模糊控制方式做為主要之控制系統。
本研究於拖航水槽進行系統測試，其中包含水下之垂向追蹤、偏擺追蹤、前後追蹤整合成三自由度追蹤測試。並且驗證其功能開發之穩定性和準確性。

The research is about developing a system to track underwater light-source and improve the Power/Signal Management System (PSMS).The CCD camera is installed on a stepper motor. In such a way, it can reach the goal angle accurately. The system progress from one-dimensional tracking to three-dimensional tracking which include horizontal tracking, vertical tracking and longitudinal tracking.

The sonar still held sway in underwater tracking but it is expensive, so we consider to de-velop a tracking method by image recognition. It combined light-source carrier tracking and light-area calculation to get relative position between PSMS and target. The control system uses the fuzzy control method due to the difficulty of establishing a comprehen-sive mathematical model of the control system in complex underwater environment.

The system tests in towing tank include horizontal tracking, vertical tracking and longitu-dinal tracking. And the test verifies the stability and accuracy of its all function.

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