Development of Motion Sensory Systems for Estimating the Motion States and the Control of an Underwater Operation System (I)

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Project title

Code/計畫編號

NSC92-2611-E019-018

Translated Name/計畫中文名

水下感測元件及系統之研發應用於水下作業---子計畫IV：運動感測系統之研發用於水下作業系統之運動狀態估測與控制(I)

Project Coordinator/計畫主持人

Chen-Chou Lin

Funding Organization/主管機關

National Science and Technology Council

Department/Unit

Department of Mechanical and Mechatronic Engineering

Website

https://www.grb.gov.tw/search/planDetail?id=875893

Year

2003

Start date/計畫起

01-08-2003

Expected Completion/計畫迄

01-07-2004

Bugetid/研究經費

872千元

ResearchField/研究領域

土木水利工程

本成果報告為整合型計畫之子計畫五第一年的期中研究成果。子計畫之總目標為研發運動感測系統用於量測與估算水下作業系統運動狀態之相關技術，並發展以感測器為基礎之水下作業系統運動控制器。本運動感測系統將估測到的運動狀態迴授至運動控制系統，並輔助水下作業系統在受到水流擾動條件下進行精確定位與操控。本研究運用四組三軸加速度規結合卡曼濾波器量測與估算水下載具(運動模擬器)之位移與姿態，針對水下作業系統在受到水流擾動情況下，提昇載具姿態定位精確度。由於角速度量測方程非線性之特性，我們採用二階擴增卡爾曼濾波器來處理此一非線性系統。在演算模擬部分，我們設定載具進行單軸旋轉運動，模擬結果其角速度偏差值約在 2%以下，而四元數之偏差值隨時間略為增加。在實驗部分，我們完成建構一雙軸轉動裝置，四組三軸加速度規以正交模式安裝於內框架上，此種配置模式之優點為積分次數僅為一次，可減低因積分造成之累積誤差。即時姿態估測實驗目前正進行中。The research report contains the preliminary result of the first-year subproject of an integrated project. The main objective is to develop the motion sensory systems for measuring and estimating the motion states of the underwater operation system, and to develop the sensor-based motion controller of the underwater operation system. The motion controller can receive the motion states estimated by the motion sensory systems, and achieve the accurate positioning and control of the underwater operation system subjected to the flow disturbance. To enhance the positioning accuracy of an underwater vehicle subjected to the flow disturbance, four sets of tri-axial accelerometers are implemented and integrated with Kalman filter to estimate the displacement and the attitude of an underwater vehicle. Due to the non-linear characteristic of the angular velocity equations, second order extended Kalman filter is adopted. In the simulation process, a uni-axial rotation motion is performed. The result shows that the maximum deviation of the estimated angular velocity is below 2%, while the deviation of the quaternion increases a little extend. In the experiment part, a bi-axial rotational device is constructed, with four sets of tri-axial accelerometers attached to the inner frame. The advantage of the allocation method is that the accumulated error of numerical integration can be reduced. The real-time estimation experiment is in progress.

Keyword(s)

水下作業
運動感測系統
水下載具
姿態估測
卡曼濾波器
定位誤差

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Development of Motion Sensory Systems for Estimating the Motion States and the Control of an Underwater Operation System (I)

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