2019-09-012024-05-13https://scholars.lib.ntu.edu.tw/handle/123456789/652097摘要：本研究之目的為建立一套利用自主式載具群進行海洋流場估測的方法。臺灣四面環海，而沿岸地區又因複雜地形進而產生許多中、小尺度的流場變化現象。為了有效觀測這些現象，本研究將以水聲層析法即時重建流場，並以粒子濾波器估測該流場之各項特徵。這些特徵將用於系統觀測性之評估，藉以調整載具群體之隊形與移動路徑，以取得較為豐富之資料量。資料取樣方式是以裝載在自主式載具上之水聲聽發器與都卜勒流速儀來進行量測，並將整合二者之觀測資料。模擬與實驗驗證將根據基隆望海巷所觀測之渦流與海流來進行。預期相關研究成果可發表1-2篇SCI論文，並在將來運用在綠島尾渦流之觀測上。<br> Abstract: The purpose of this study is to develop an estimation method of ocean current field using a group of autonomous vehicles. Due to the coastline complexity, many small- and mesoscale variabilities occur around Taiwan and are needed to be considered to reconstruct a more accurate current field. In this study, Ocean acoustic tomography is used to inverse a current field, and the features of this field are estimated using a particle filter. These features are then used to build a current model, and the observability measures of this model can be obtained. Based on these measures, the formation and the path of a group of autonomous vehicles are set such that the quality of data sampled by acoustic transceivers and acoustic Doppler current profilers can be improved. The data from different sensors are then combined to obtain more accurate estimations. The performance of the proposed method will be presented via simulations and experiments in Keelung bay area. These results are expected to be used to publish 1-2 SCI papers, and the proposed method can be used to estimate the temporal and spatial changes of island wakes behind the Green Island.沿岸聲層析參數估測編隊控制海洋自主性移動感測聯網Coastal acoustic tomographyparameter estimationformation controlenvironmental monitoringmarine autonomymobile sensing network