本論文設計一種不受陸地因素限制並可適用於水下環境的角度估測模組，並整合轉向驅動模組建構成主動式載具轉動角度估測系統。其中，角度估測模組係由兩加速度計整合轉向模型估測演算法計算載具轉向角度。轉向模型估測演算法設計方面可分成三大部分，包括轉彎側傾角修正法、轉彎半徑計算法以及轉動角度評估三大部分。轉彎側傾角修正法，利用三軸加速度感測特性，針對載具轉向所伴隨的側傾角進行補償，以修正重力於側傾角分量的加速度量測值；轉彎半徑計算法，藉由兩加速度計向心加速度量測差值與已知間距，推算載具轉彎半徑；轉動角度評估，結合燈具照明特性，依據其照明距離、出光角與轉彎半徑計算法估測轉向驅動模組最大轉動角度。轉向驅動模組是由兩核心元件組成：對稱型壓電元件(Symmetric Piezoelectric Element)與衍架型(Trussed Structure)預壓力機構組成，其中衍架型預壓力機構設計，則改良一般直線預壓力軌道設計，採以旋轉軌道之力矩方式施以定子與轉子間預壓力，並導入衍架結構分力概念，設計出一三角衍架型正向預壓力機構，轉向驅動模組設計最後，以LabVIEW人機介面整合角度估測模組與轉向驅動模組，設計主動式載具轉動角度估測系統，並可結合照明設計與攝影鏡頭，將主動式轉向頭燈(Adaptive Front Lighting System)概念成功導入水下應用領域。

This thesis presents an adaptive vehicle rotate angle system using dual MEMS inertia sensor, which can apply to underwater environment. The system consist of vehicles rotate angle estimation module and driving module. The angle estimation module calculate the vehicle steering angle model by the two accelerometers. The design of vehicle steering angle model can be divided into three parts, including the roll angle correction method, turning radius calculation method and driving module rotate angle. Turning roll angle correction method calibrate the influence of gravity in centripetal acceleration by the accelerometer multi-axis sensing characteristics. Turning radius calculation method calculate the turning radius by the difference value between two accelerometers distance. The rotate angle and maximum rotate angle of driving module is calculated by illuminating distance, light angle and Turning radius. Driving module is composed of two core components: symmetrical piezoelectric element and trussed preload structure which can improve the general linear preload track design into torque track design. The truss structure utilized a triangular structure to provide a normal force as preload. The software LabVIEW is used to control the adaptive vehicle rotate angle system, and link up driving module and vehicle rotate angle estimation module. The design of active vehicle rotation angle estimation system could be combined with the lighting design and camera, the concept and has been estimated in various applications, such as adaptive front lighting system and unmanned aerial vehicle or autonomous underwater vehicle camera.

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