水下自走式聲學載台開發與應用

Development of Underwater Acoustic Autonomous Vehicle System with Acoustic Application

莊昇祐(Sheng-Yu Chuang)

指導教授 ： 陳琪芳

國立臺灣大學/工學院/工程科學及海洋工程學研究所/碩士(2015年)

https://doi.org/10.6342/NTU.2015.00382

摘要

本文主要於開發具備水下自主式載具基礎的多功能聲學載台。載具控制的部分利用超聲波測距、壓力計、加速度計、電子羅盤等模組回授所處環境及姿態等資訊，對推進器、舵機進行深度及航行軌跡控制，並利用載具上浮水面的時間進行GPS定位，校正載具航向；聲納部分以一軍規音鼓作為拍發源，在主動聲納的功用上可設定進行單頻訊號(Single Frequency Signal)或掃頻訊號(Chirp Signal )的拍發，亦可將記憶卡中的特定訊號檔案拍發。被動聲納的部分除可作為水聽器，亦可進行聲納應答(Repeater)功能，即時回播接收到的目標訊號，並可視任務條件擴充其他水下麥克風以進行更高品質的訊號紀錄。
本載具採模組化的構想設計，以鋁擠型作為骨架；電池、儀器艙筒兩段分離，並以連接器串接成一長段；以美商國家儀器公司(National Instruments, NI)開發的嵌入式單板電腦myRIO為主控設備，藉由其豐富的訊號通道達到擴充快速簡易、維修偵錯方便之訴求，並以NI發展的LabVIEW做為系統程式語言，其直覺化的程式編撰可讓非程式開發人員上手快速，展現親切系統使用者的特性。
本研究於水槽進行載具自主運動及主被動聲納測試，提供控制流程與實驗數據以驗證本自主式聲納系統發展之可行性。

關鍵字

水下載具 ； 水下聲學 ； 移動式聲源

並列摘要

The main purpose of this article is developing a multifunctional underwater acoustic platform base on an autonomous underwater vehicle (AUV). In AUV control, the sensors like sonic range-finder, pressure sensor, accelerometer and compass would send back the environment and the attitude information, these data would feedback to the thrusters and rudders to fix the position and direction of the AUV. When the AUV floating up to the water surface, GPS would calibrate the course of AUV again. The navy transducer was used here to be the active SONAR, it can transmit single frequency signals or chirp signals in the system. The sound files in the flash disk is also allowed to be played. In the part of the passive SONAR, this platform not only can be an underwater sound recorder but an acoustic repeater. In some special cases, other hydrophones could be expanded to get higher quality sound data.
The platform in this article is designed to module structure. The frame is made by aluminum extrusion. The batteries and equipment were taken apart into two pressure tanks, which could be combined as a longer one with a connector. The single-chip processor, myRIO, which was made by National Instruments (NI) was used to the platform main controller because of its mult-channel and easy to use. The computer language in this article is LabVIEW, which also developed by NI.
The AUV in this article was tested at the water tank in ESOE, NTU. The data of the AUV control and the SONAR application was applied in the article to help the further researches.

並列關鍵字

AUV ； Underwater acoustic ； Mobile source

參考文獻

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