| Summary: | 碩士 === 國立臺灣海洋大學 === 導航與通訊系 === 93 === A small boat-based GIS(Geographical Information System)and track-keeping system is proposed in this work.Specifically,the IMC(Internal Model Control)method is used in the autopilot design,and the controller is implemented in the PID structure.The track-keeping mission is achieved through a sequence of course-keeping maneuvers to reach the preselected waypoints.A simplified 4-quadrant guidance law is developed that employs the ownship position and the target waypoint in computing the reference heading needed in the course-keeping loop. Several instruments are used in the experimental studies.Specifically,the high precision NCT-2000D RTK GPS receiver made by NavCom,the electronic compass,the ADAM 4000 A/D D/A modules and two outboard steering engines are installed in the small boat.
Simulations for course-keeping and track-keeping are first carried out to examine the feasibility of the proposed approach.Then the small boat-based experiments are conducted in the harbour near the National Taiwan Ocean University to further validate the performance of the proposed guidance and control law.Satisfactory course-keeping and up to 10 waypoints track-keeping experimental results are achieved.The data collected with the onboard sensors are integrated in forming the small boat-based GIS platform that may serves as a cost-effective harbour waterway surveying system.
Keywords : Course-keeping , Track-keeping , Waypoint guidance, Autopilot , IMC(Internal Model Control) , RTK(Real Time Kinematic)GPS .
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