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研究生:馬玉龍
研究生(外文):Yu-Lung Ma
論文名稱:太陽能無人船探測路徑規劃及誤差分析之研究
論文名稱(外文):Oceanographic Survey Design and Error Analysis for a Solar-Powered Autonomous Surface Craft
指導教授:郭振華郭振華引用關係
指導教授(外文):Jen-Hwa Guo
口試委員:林顯群江茂雄
口試日期:2010-11-12
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:工程科學及海洋工程學研究所
學門:工程學門
學類:綜合工程學類
論文種類:學術論文
論文出版年:2010
畢業學年度:99
語文別:英文
論文頁數:108
中文關鍵詞:太陽能無人船舶海洋調查路徑規劃誤差分析隨機場
外文關鍵詞:solar energyautonomous surface craftoceanographic surveypath planningerror analysisrandom field
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太陽能發電系統是由太陽能板,負載及儲能裝置所組成,配合上合適的電力管理方法,此系統便能獨立的進行運作。本研究旨在開發一台搭載太陽能輔助電力的智慧型無人船舶(ASC),考慮太陽板所能產生之電力,並評估其電力對探測任務之影響。本文首先簡介太陽能發電系統中各個物件之特性,利用此特性估測出不同時間點下太陽能板的發電量,以及智慧型無人船舶執行探測任務時所需耗費之電量,並針對其任務提出合適的探測空間解析度及總探測時間,最後加入誤差之估測理論,考慮探測空間解析度以及總探測時間對探測結果之效應,結合兩者發展出一套可以估測其探測誤差大小的方法,同時利用隨機場模擬並確認此誤差分析方法之可行性。最後使用太陽能驅動無人船舶在河道中施行水深量測,驗證本文所提出之探測誤差估測方法之正確性。

A solar power system is composed of the Photovoltaic (PV) cell, load and energy storage device. The power system can be operated independently with an appropriate energy management. In this study, an autonomous surface craft (ASC) with a solar power system was developed. Survey mission accuracy was evaluated by considering the energy available from its solar panels. This article first briefly mentions the characteristic of components in a solar power system. Then estimation of the solar power generation in a day time and the energy consumption of ASC during a survey mission were formulated. The estimation theory of survey error is employed by taking into account of the effect caused by spatial resolution, and the total survey time parameters. The feasibility of the survey error prediction was then demonstrated by random field simulations. Finally, the ASC was used to conduct survey mission in a river bank to verify the proposed survey error prediction algorithm.

CHAPTER 1 1
Introduction 1
1.1 MOTIVATION 1
1.2 LITERATURE REVIEW 2
1.3 THESIS ORGANIZATION 4
CHAPTER 2 6
Stand-Alone Solar Power System 6
2.1 PHOTOVOLTAIC CELL 6
2.2 CHARACTERISTIC OF LI-ION BATTERY 10
2.3 CHARACTERISTIC OF LOAD 15
CHAPTER 3 20
Solar Energy Generating System 20
3.1 SUN MOVING TRACK 21
3.2 SUN RADIATION 23
3.3 POWER GENERATION SIMULATION 28
CHAPTER 4 34
Energy Consumption 34
4.1 SURVEY ENERGY CONSUMPTION 34
4.2 FLOW VELOCITY EFFECT 42
CHAPTER 5 55
Survey Error Simulation 55
5.1 ERROR ANALYSIS 55
5.1.1 Spatial Survey Error 56
5.1.2 Temporal Survey Error 61
5.1.3 Total Survey Error 63
5.2 SURVEY ANALYSIS PLOT 64
5.3 RANDOM FIELD SIMULATION AND SURVEY ERROR VERIFICATION 69
5.3.1 Process Simulation 70
5.3.2 Survey Path Simulation 74
5.3.3 Survey Error Calculation 80
5.3.4 Application 85
CHAPTER 6 88
Experiment 88
6.1 ESTIMATION OF AVAILABLE SOLAR ENERGY 88
6.2 SURVEY PATH AND RESOLUTION DESIGN 92
6.3 EXPERIMENT IN DAJIA RIVERSIDE PARK 98
CHAPTER 7 104
Conclusion 104
REFERENCES 105



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