超短基線(Ultra Short Base Line, USBL)是一種廣泛用於水下載具(如ROV)的追蹤系統。USBL由收發器和應答器所組成，其中收發器安裝在船的底部，應答器安裝於水下載具上。USBL系統主要是提供船舶相對於水下載具的位置與方向資訊。如果船舶沒有精確的動態定位系統，將導致水下載具追蹤上的誤差。另一方面，如果收發器的座標軸和船舶上的定位感測器無法重疊，則會出現校準偏差的問題。因此，本研究的主要目的是設計一個動態定位平台來解決這些問題，本研究的動態定位平台有四個X形配置的推進器，每個推進器設置的夾角為45°，此種配置將使動態定位平台易於在3自由度(3自由度：縱移、橫移、平擺)上控制。在即時控制下，可以確保動態定位平台的定位精度。在模擬分析中，動態定位平台通過平面運動機構(Planar Motion Mechanism, PMM)得到流體動力係數作為系統的模擬參數。再將流體動力係數代入三自由度的運動方程式來進行模擬分析。最後，本研究為了驗證動態定位平台，在成大系統系的拖航水槽中進行測試。USBL追蹤系統用於量測水下載具的相對位置資訊，然後藉由 NI-Compact RIO即時控制系統，來完成水下載具的追蹤，在無風無浪條件下的環境，進行模擬和實驗獲得初步結果，來驗證動態定位平台配合USBL追蹤水下載具的可行性。

Ultra Short Baseline (USBL) is a widely used tracking system for underwater vehicles (as ROV). The USBL consists of a transceiver and a transponder. The transceiver is mounted on the bottom of the ship. The transponder is mounted on an underwater vehicle. The USBL system provides a range and bearing estimate of the underwater vehicle relative to the ship’s position. If the ship does not have an accuracy dynamic positioning system, it will cause the position tracking error of the underwater vehicle. The other, if the coordinate axis of the USBL’s transceiver and the ship positioning sensors are not to overlap, the alignment deviation problem will come up. Therefore, the main purpose of this study is to design a dynamic positioning platform to solve these problems. The dynamic positioning platform of this study has four thrusters in an X-shaped configuration, and each thruster sets up an azimuth of 45°. This configuration will make the dynamic positioning platform easy to be controlled in 3 degrees of freedom (3 DOF: surge, sway, yaw). Under real-time control, the positional accuracy of the dynamic positioning platform can be ensured. In the simulation analysis, the dynamic positioning platform gets the hydrodynamic coefficient as the simulation parameter of the system via the planar motion mechanism (PMM). Simulating the hydrodynamic coefficient into the 3-DOF equation of motion for simulation analysis. Finally, in order to verify the dynamic positioning platform, it was tested in the towing tank of NCKU. The USBL tracking system is used to detect the relative position data of the underwater vehicle, and then the NI-CompactRIO real-time control system is integrated to complete the underwater vehicle tracking. The preliminary results were obtained by simulation and experiment under the condition of no wind and waves. The feasibility of using the USBL to track the underwater vehicle was verified by the dynamic positioning platform.

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