被動水下聲學監測與智慧型水面無人載具整合之研究

Integration of Passive Acoustic Monitoring System and Autonomous Surface Vehicle

以往對於臺灣周邊海域之水下聲景量測分析及鯨豚被動式聲學監測，係各委託單位依其目的業務及財力進行相關資料監測分析，缺乏長期及大範圍之調查，且尚未建立完整制度及聲學資料庫，因此造成相關資源運用之複雜性。本文論述在未來建立被動式聲學監測網，量測分析海洋聲景，評估海洋環境中的資訊，透過聲紋辨識及聲學定位技術偵測鯨豚之動態，進而研判生物族群的棲地可能受到的影響，對海洋保育有其必要性與正面效益，目前研發成果可作為未來臺灣周邊海域水下噪音與被動式聲學監測網建立之基礎成果包括利用水面無人載具之被動水下聲學量測系統，透過即時水下音訊分析與即時頻譜回傳，來得知水下之聲學環境，並且透過海豚之哨叫聲（Whistle）來判定量測區域中是否有海豚之存在，若目標訊號明確，載具將自主性移動至特定區域做進一步之量測。全系統透過C++實踐並且可應用於嵌入式系統。本文之系統可分為四大部分，分別為即時哨聲偵測、聲源方位計算、載具自主控制系統與即時監控系統。本文將說明各部分並透過臺灣基隆河大直橋下水域，驗證本文所開發之系統之可行性，並且分析本系統之誤差來源。本研究所研發之被動水下聲學量測系統，為未來臺灣西海岸被動式聲學監測網主要元件之一。

In the past, the measurement of underwater noise in the surrounding waters of Taiwan and the passive acoustic monitoring of marine mammals were conducted by the commissioning units in accordance with their business and financial resources. Lack of long-term and extensive investigations, the acoustic database and the complete system have not been established, which has caused the complexity of the use of related resources. Thus, we hope we can build a passive acoustic monitoring network in the near future, measure and analyze the ocean soundscape, and evaluate the information in the marine environment. It has the necessity and positive benefits for marine conservation, and the results will serve as the basis for the establishment of underwater noise and passive acoustic monitoring networks in the surrounding waters of Taiwan. This article provides a process for checking if there are dolphin in the specific area and using unmanned surface vehicle to track the source and find the area they are. This process has 4 main parts, including real-time dolphin whistle detection, real-time shore side monitoring system, underwater acoustic source localization and the behavior of the surface vehicle.