臺灣博碩士論文加值系統

聲納感知器(Sonar Sensor)仍是目前對水下目標偵測的最有效裝備，以僅知方位偵測音源為主的目標運動分析法則 (Bearings-Only Target Motion Analysis, BO-TMA)，可對目標進行隱密的狀態估測。各種不同的TMA法則迄今仍被廣泛探討，其主要的方法包括迴歸法、批次法及幾何解法等。
幾何解法之優點在於以簡單的運算及圖解，替代了繁雜的數學計算式，提供操作人員易於判讀與實際運用，迄今仍是世界各國潛艦對水下目標運動分析之主要方法。被動式目標運動分析主要針對保持定向定速(Constant Course and Speed, CCS)運動之目標，觀測者必須進行戰術運動(Maneuver)，使目標成為可觀測(Observable)，以獲得之方位參數對目標進行狀態估測。觀測者若進行較佳之戰術運動，將可得到較佳之目標狀態解。
本文提出以改良艾克倫(Ekuland)距離之幾何解法，對二維僅知方位之目標運動進行分析，並以蒙特卡羅(Monte Carlo)法進行模擬驗證，最後參考目標變率，得到最佳潛艦接敵運動邏輯。經此改良解法可獲得精確之目標狀態估測；其結果較Coll或Bakos所使用之戰術運動邏輯更佳。

Sonar sensor is still the useful detector for underwater target. Target’s state can be estimated by bearings-only target motion analysis from a hiding observer. There are several methods, including regression, batch and geometric solution.
Using simple mathematical calculation with diagram illustration is the advantage of the geometric method solution which replaces the calculation of their complicated motion equations. Therefore the geometric method is still using widely on board submarine of several navies. The passive target motion analysis, focus on the targets which maintain constant course and speed. The operator has to maneuver the ship, let target be observable, then one can estimate the target’s state from bearings. The better solution of target’s state can be got after doing the better own ship maneuver.
This purposes of this thesis proposes with the graphical solution of Improved Ekuland Range to analysis two dimensional bearings-only target motion, and applying Monte Carlo simulation, then to obtain the optimal observer’s maneuver. The result gets better estimation of target’s state than Coll’s and Bakos’s maneuver during the target approach does.

誌謝 ii
摘要 iii
ABSTRACT iv
目錄 v
表錄 viii
圖錄 ix
符號與縮寫 xi
1. 緒論 1
1.1研究動機 1
1.2問題描述 2
1.2.1 潛艦任務 2
1.2.2 潛艦接敵運動 3
1.3文獻回顧 3
1.3.1 目標運動分析(TMA)理論 3
1.3.2 潛艦戰術 5
1.4研究內容及方法 6
1.5論文架構 6
2. 目標運動分析之幾何解法 7
2.1分區描繪 7
2.2時間方位描繪 9
2.3直線描繪 11
2.4艾克倫距離 14
2.5最佳距離之時間(Tstar) 15
2.6相對運動描繪 17
2.7本章結論 17
3. 模擬模式建立與目標運動分析(TMA) 18
3.1 目標模式 18
3.1.1 目標位置 18
3.1.2 目標航向與航速 19
3.2 潛艦模式 19
3.2.1 潛艦位置 19
3.2.2 潛艦速率與電瓶容量 19
3.2.3 潛艦航向與航速變化 19
3.2.4 潛艦轉向與位移軌跡(leg)運動 22
4.2.5 潛艦聲納偵測效能 22
3.3 改良艾克倫距離法 22
3.4 迴歸分析 32
3.5 求解時間方位曲線 33
3.6 本章結論 36
4. 潛艦最佳接敵運動分析與模擬 38
4.1 潛艦接敵運動 38
4.1.1潛艦接敵運動分析. 38
4.1.2 Coll接近法. 39
4.1.3 Bakos接近法. 41
4.2方位變率適應接近法 42
4.2.1 leg2最佳轉向角. 42
4.2.2 leg3最佳轉向角 44
4.2.3 方位變率適應接近法. 47
4.3 潛艦最佳接敵運動模擬 49
4.3.1艾克倫距離比較 49
4.3.2 目標航向比較 49
4.3.3 目標航速比較 49
4.3.4 直線描繪距離誤差比較 50
4.3.5 最終距離比較 50
4.4 本章結論 56
5. 結論 57
5.1 分析與討論 57
5.2 未來研究方向 57
參考文獻 59
附錄A 程式設計功能流程圖 63
附錄B leg2最佳轉向角 70
附錄C leg3最佳轉向角 74
論文發表 78
自傳 79

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