臺灣博碩士論文加值系統

這篇論文提出了一個利用旋轉發信器所發展的一套精準室內定位系統：SpinLoc。SpinLoc利用旋轉發信器製造可預測且極具辨識性的都普勒訊號，達到公分等級的定位精準度。這套系統首先分析旋轉發信器發出的都普勒頻率位移，以求得從旋轉中心至目標物的方向角。利用兩到三個旋轉發信器求得許多個方向角後，便可以定到目標物的位置。經過設計及在MICA2 mote上實作之後，我們拿去室內停車場做實驗。實驗結果顯示SpinLoc達到50%小於40~50公分以及90%小於70~90公分的定位精準度。

This thesis proposes the novel use of spinning beacons for precise indoor localization. The proposed “SpinLoc” (Spinning Indoor Localization) system uses “spinning” (i.e., rotating) beacons to create and detect predictable and highly distinguishable Doppler signals for sub-meter localization accuracy. The system analyzes Doppler frequency shifts of signals from spinning beacons, which are then used to find the direction from the spinning center to the target. By obtaining direction of the target from two or more spinning beacons, SpinLoc can precisely locate stationary targets. After designing and implementing the system using MICA2 motes, its performance was tested in an indoor garage environment. The experimental results revealed a median error of 40~50 centimeters and a 90% error of 70~90 centimeters.

Acknowledgement i
Abstract iii
摘要 v
List of Figures ix
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Contribution 2
Chapter 2 Related Work 5
2.1 Range-based methods 6
2.2 Range-free methods 7
Chapter 3 SpinLoc Approach 9
3.1 Doppler Effect 10
3.2 Doppler Angulation 11
3.3 Localization Algorithm 14
Chapter 4 System Overview 17
4.1 Doppler Signal Generation 20
4.2 Frequency Record 21
4.3 Orientation Angle Calculation 21
4.4 Location Estimation 25
Chapter 5 Parameter Tuning 29
Chapter 6 Implementation 35
Chapter 7 Experiment Results 37
7.1 SpinLoc Positional Errors 39
7.2 Doppler Angulation Filtering 41
7.3 Data Collection Times 43
7.4 Rotational Velocities 44
7.5 Interference Frequency 45
Chapter 8 Sources of Error 47
Chapter 9 Conclusions and Future Work 51
Bibliography 53
Appendix 59

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