指導教授：郭振華臺灣大學：工程科學及海洋工程學研究所林介元Lin, Jie-YuanJie-YuanLin2014-11-252018-06-282014-11-252018-06-282014http://ntur.lib.ntu.edu.tw//handle/246246/260971本文提出一利用光波為資料傳輸媒介之水下載具無線通訊系統，目標在淺水區或是狹窄水域等不利於超聲波傳輸之水下場域，做為操作者與水下載具之間中短距離單向溝通介面。本系統之光發射器與光接收器個別以高功率發光二極體(LED) 與PIN光電二極體為主體設計，並採取開關鍵控之調變方法以控制光波運載編碼完成之二進位資料封包。綜合漢明碼與曼徹斯特碼之編碼應用於建立本系統之資料封包。漢明碼提升資料封包對於位元錯誤之容錯能力；曼徹斯特碼幫助系統減少收發兩端資料同步時所可能發生之位元錯誤。本文並於一大型水族箱中，運用LED燈具與自主式無人水下載具設計實驗，驗證此系統在載具為靜態與動態形式之下皆可使用一千赫位元單向傳輸資料，其封包錯誤率與載具速度、載具與燈光之距離有關，在載具速度為0.8公尺每秒，距離3公尺時其封包錯誤率約為10%。An underwater wireless optical communication system is presented in this thesis. It serves as a moderate-distance and unidirectional wireless communication interface between underwater vehicles and humans in a shallow or narrow water environment where acoustic waves show unsatisfied communication performances. A high power LED based optical transmitter and a PIN photodiode based optical receiver were built and tested. They are connected with respective computers and On-Off Keying (OOK) modulation method is applied for optical waves to carry binary data packets. Hamming codes and Manchester codes are chosen to construct the data packets. They enhance the ability of data packets to escape from possible bit errors during the transmission. Experiment results of data transmission in static and dynamic manner to an autonomous underwater vehicle in an aquarium are demonstrated to show the system performance. The packet error rates （PER） increase with increased vehicle speeds and larger distances to the LEDs. The PER at the vehicle speed of 0.8 m/s, and at a distance of 3 meters to the LED light source was about 10%.口試委員會審定書------------------------------# 誌謝----------------------------------------i 摘要---------------------------------------ii Abstract---------------------------------iii Table of Contents-------------------------iv List of Figures--------------------------vii List of Tables--------------------------xiii List of Symbols--------------------------xiv Chapter1 Introduction----------------------1 1.1 Motivation-----------------------------1 1.2 Literature Review----------------------2 1.3 Thesis Organization--------------------4 Chapter2 System Design---------------------6 2.1 Underwater Optical Channel-------------7 2.2 Optical Transmitter-------------------10 2.2.1 LED---------------------------------10 2.2.2 Optical Reflector-------------------20 2.2.3 LED Driver--------------------------22 2.3 Optical Receiver----------------------26 2.3.1 PIN Photodiode----------------------27 2.3.2 Signal Processing Circuit-----------31 2.3.3 Microcontroller and Computer--------37 Chapter3 Data Coding Schemes--------------38 3.1 Hamming Codes-------------------------38 3.2 Manchester Codes----------------------49 3.3 Data Packet Construction Strategy-----51 Chapter4 Experiments----------------------55 4.1 The Static Experiment-----------------55 4.1.1 Overview----------------------------55 4.1.2 Setup-------------------------------56 4.1.3 Results-----------------------------59 4.2 The Dynamic Experiment----------------69 4.2.1 Overview----------------------------69 4.2.2 Setup-------------------------------70 4.2.3 Results-----------------------------73 Chapter5 Conclusions----------------------78 Reference---------------------------------80 Appendix A--------------------------------842720198 bytesapplication/pdf論文公開時間：2014/03/08論文使用權限：同意有償授權(權利金給回饋學校)水下無線光通訊水下載具水族箱水下技術thesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/260971/1/ntu-103-R00525018-1.pdf