到了21世紀的今天，隨著陸上資源不斷開採，在可預期的將來可能會遇到資源枯竭的問題，而廣闊的海洋潛藏著豐富的礦產、漁業資源，因此探索海洋一直是各國發展之主力。目前無人載具導航之導引律(Guidance Law)設計已經行之有年，得益於Mathwork公司的Matlab套裝軟體針對設計導引律中常用到的數學問題都有相應之函式可以提供設計者快速調用與驗證。本研究利用一艘未知參數之船殼，先對其船殼進行距地高量測，並根據其距地高資料建模，並透過Solidwork求出約略重心位置以決定設備擺放之位置，利用編寫好Matlab函式由ATmega系列晶片轉換成致動器控制命令，使Matlab在設計無人船導引律時，除了電腦端模擬以外，更可以透過本研究的方式在相對應的實船上快速驗證導引律應用於實船上之可行性。為了滿足導引律設計後模擬所需之船體參數，我們透過平面運動機構(Planar Motion Mechanism, PMM)得到該船流體動力係數，再將其帶入三自由度的運動方程式來到完整數學模型，並透過卡爾曼濾波器建立一個透過地磁儀取得磁方位角的方式，最後透過水槽測試比對致動器輸出期望推力與真實推力輸出，以驗證船體機構設計是否如預期的輸出控制命令。

The guidance law of unmanned surface vehicle navigation (Guidance Law) has been designed for many years. However, an off-line hardware verification platform and a standard process are not yet announced. For solving these issues, a platform which integrates software, hardware and measurement of ship models’ hydrodynamic parameters is proposed in this investigation for off-line quickly verifying a designed ship’s overall performance without a large amount of sea trails. The famous software Matlab which contains powerful mathematical functions for the mathematical problems commonly are used in the development of this platform for calculations of the proposed guidance law, collecting sensors’ messages and output desired actuators’ commands. In this study, unknown parameters of the used hull, including center of gravity, viscus coefficients, and damping coefficients are precisely estimated through Solidwork and Planar Motion Mechanism (PMM). Main software platform is constructed via using Matlab because of its friendly and abundant mathematical tools, and this arrangement of software usage offers designers of surface vessels a really convenient programming environment. The major calculator adopted in this study is an industrial desktop for the purpose of swiftly executing required programs and communicates with low level microcontrollers or DSP.

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