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研究生： 黃亭瑋
Huang, Ting-Wei
論文名稱： 水下定位通訊感測系統研發
Design and Implementation of Underwater Localization and Communication Sensing System
指導教授： 周榮華
Chou, Jung-Hua
學位類別： 碩士
Master
系所名稱： 工學院 - 工程科學系
Department of Engineering Science
論文出版年： 2013
畢業學年度： 101
語文別： 中文
論文頁數： 59
中文關鍵詞： 水下定位 、超音波 、TOA 、GPS
外文關鍵詞： Underwater localization, Ultrasonic, TOA, GPS
相關次數： 點閱：60  下載：7 
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    • 本論文主要是設計一個可以運用於水下的定位系統。首先探討現今已發展之多種水下定位技術，由基礎定位原理出發，延伸規劃出整個水下定位演算法。基於高頻訊號於水中環境容易衰減的特性，將無線通訊定位系統，改為使用超音波訊號為主的水下超音波定位系統，計算訊號通訊的飛行時間，採用TOA(Time of Arrival)測距與三角定位方法，以取得定位座標資訊，並且結合GPS(Global Positioning System) 定位系統，取得經緯度座標資訊，令整個定位機制可以適用於遠近之定位範圍。
    並且設計載具與建置周邊節點之定位環境，進行定位實驗驗證整個系統機制的可行性。其一維定位實驗的誤差值在3公分左右；於229cm X 229 cm環境執行的二維定位實驗，誤差值為5~10公分；而GPS定位實驗透過資料篩檢的方式，可將精準度優化至1~2公尺；兩定位模組結合實驗，可驗證此方法適用於遠近之定位範圍。

    In this thesis, an underwater localization system is designed and implemented. From reviewing the existing underwater positioning technologies, we develop the underwater localization algorithms from the basic positioning principles. Because radio waves are extremely damped in an underwater environment, we use ultrasonic signals to replace it for communication. The underwater ultrasonic localization system obtains position information by using the TOA (Time of Arrival) ranging method and Pythagorean Theorem. In addition, with the combination of GPS system, the whole localization mechanism can be applied to various underwater positioning ranges.
    In this thesis, we also build the vehicle and ultrasonic nodes to implement the localization experiments, and then we can verify the validity of the underwater localization system. The results show that the precision of the positioning system in one-dimensional is about 3 cm. The experiment testing in a 229 cm x 229 cm environment indicates the precision of the positioning system in two-dimensional is 5~6 cm. And through selecting the information from GPS, the precision of the GPS will reach 1~2 m. The experiment which combines ultrasonic positioning system and GPS represents that the localization mechanism can be applied to various underwater positioning ranges.

    中文摘要...............................I Abstract...............................II 誌謝...............................III 目錄...............................V 圖目錄...............................VIII 表目錄...............................XI 第一章 緒論...............................1 1.1 研究背景與動機...............................1 1.2 研究目的 ...............................1 1.3 文獻回顧 ...............................2 1.4 論文架構 ...............................7 第二章 基礎理論 ...............................8 2.1 水下定位技術...............................8 2.2 基本定位原理...............................9 2.3 定位系統原理...............................12 2.3.1 超音波定位原理...............................13 2.3.2 GPS定位原理...............................14 第三章 實驗方法與系統設計...............................16 3.1 整體設計與系統架構...............................16 3.2 電路系統硬體介紹...............................17 3.2.1 主控核心晶片PIC18F4520...............................17 3.2.2 穩壓模組...............................19 3.2.3 驅動系統...............................22 3.2.4 無線通訊系統...............................24 3.2.5 GPS定位模組...............................26 3.2.6 超音波定位模組...............................29 3.3 機構設計...............................32 3.3.1 載體硬體架構...............................32 3.3.2 超音波信標...............................33 第四章 程式流程規劃與軟體設計...............................35 4.1 系統整體程式流程...............................35 4.2 超音波模組定位流程...............................36 4.3 GPS定位流程...............................38 4.4 開發軟體介紹與人機操作介面...............................39 4.4.1 人機操作介面...............................39 第五章 實驗方法與結果討論...............................41 5.1 實驗方法...............................41 5.2 水下超音波定位實驗...............................41 5.2.1 一維測距實驗...............................41 5.2.2 二維定位實驗...............................45 5.2.3 GPS定位實驗...............................48 5.2.4 超音波定位模組結合GPS定位實驗...............................53 5.3 結果討論...............................53 第六章 結論與未來發展...............................55 6.1 結論...............................55 6.2 未來發展...............................55 參考文獻...............................56

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