2015-08-012024-05-17https://scholars.lib.ntu.edu.tw/handle/123456789/692644摘要：本計畫為103 年度所提三年期整合型計畫【結合移動載具於分散式聯網水下感應器之水聲層析研究】之延續計畫。擬結合自主式水下載具與分散式水下感測器聯網所建構的水下網絡系統，進行綠島尾渦流的綜觀且高解析度流場測繪。相較於固定式水下感測器所建構之聯網，本研究採用移動載具與水下感測器的水下通訊訊號，通過移動載具的靈活性，以提高聲線分佈密度涵蓋監測水域。因此，所重建海洋資料其空間解析度將可不受限於感測器數量。研究主題包括：首先以數值模擬方式分析移動載具聲層析法所能決定之溫度場或流速場之解析度與誤差分析，以利瞭解於實海域測試中解析度之可實現程度；發展卡爾曼濾波資料處理方法，以連續追蹤流場之時空變化：另，參考信息論以評估不同聲線分佈下的信息內容，決定固定式水下感測器之最佳佈放位置，再依此設計準則決定自主式水下載具之航行軌跡；最後，利用小尺度海洋動力現象之數值模式以供水聲層析方法進行反演模擬計算，以了解海洋聲層析觀測固有的積分屬性對反演環境之影響。終極目標為建立一三維海洋聲層析法觀測方法，期以研究小尺度海洋動力現象。<br> Abstract: This proposal is a continuation of the integrated project entitled ``Moving vehicle tomography using distributed networked underwater sensors.`` The objective of this project is to combine autonomous underwater vehicle (AUV) technology with distributed underwater network system to obtain a high-resolution and synoptic image of the small scale oceanic dynamics. Compared with a traditional tomographic system using moored sensors, the system using acoustic sensors carried by moving vehicle for tomography, referred to as Moving Vehicle Tomography (MVT), shall generate a sufficient number of ray paths crossing the areas of observation, and therefore, the spatial resolution is not limited by the number of sensors as in the traditional method. The research shall cover the following topics: First, a numerical simulation is employed to determine the precision with which the ocean flow and temperature fields can be measured in practice using the technique of MVT, so as to understand the reliability of the method in a real experiment; Next, a recursive data processing method named Kalman filtering is applied to track the current distribution continuously; Then, the information content embedded in a measurement of given ray paths is estimated based on information theory, so that the optimal positioning of the moored sensors may be determined; and based upon the design criterion, the route of AUV may then be determined. Finally, travel times are simulated from small-scaled oceanic numerical model to determine the effects of integral constraints (tomographic measurements) on small-scaled oceanic models. Our ultimate goal is to construct a 3-dimensional acoustic tomography system to obtain a synoptic observation of small-scaled oceanic dynamic phenomenona.海洋聲層析學流場反算溫度場反算分散式網狀水下感應系統移動載 具聲層析卡爾曼濾波ocean acoustic tomographytemperature/current inversiondistributed networked underwater sensorsmoving vehicle tomographyKalman filtering