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研究生:林恭煥
研究生(外文):Kung-Huan Lin
論文名稱:基於智慧手機的室內PDR定位系統模組化快速開發平台
論文名稱(外文):A Rapid-Prototyping Platform for PDR-based Indoor Location System on Smart Phone
指導教授:廖峻鋒廖峻鋒引用關係
指導教授(外文):Chun-Feng Liao
口試委員:楊東麟陸敬互
口試委員(外文):Don-Lin YangChing-Hu Lu
口試日期:2014-06-16
學位類別:碩士
校院名稱:逢甲大學
系所名稱:資訊工程學系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2014
畢業學年度:102
語文別:中文
論文頁數:45
中文關鍵詞:室內定位系統手機定位航位推算偏差校正
外文關鍵詞:Indoor positioningCell phone positioningDead reckoningDeviation Correction
相關次數:
  • 被引用被引用:3
  • 點閱點閱:615
  • 評分評分:
  • 下載下載:92
  • 收藏至我的研究室書目清單書目收藏:0
航位推算(Pedestrian Dead Reckoning, PDR) 是一種不需額外基礎設施的定
位技術,利用少數感測器,在適當調校下即可達成不錯的精準度,因此近年來有
許多以PDR 技術為基礎的室內定位系統被提出。然而,在實務上,建構精準的
PDR 定位系統過程相當繁瑣,必須考量應用服務特色、使用環境及對象,不斷
嘗試各式演算法並調整參數。
有鑒於此,本研究從軟體工程的角度出發,提出一個基於智慧手機的室內
PDR 定位系統開發平台,將PDR 室內定位系統中的不同演算法與參數模組化,
使研究人員可在開發過程中藉由組裝、建構與測試各種演算法,快速建構適用於
特定場合的定位機制。本論文同時也藉由一個實際案例,說明如何透過此平台逐
步改善定位系統的精準度,經由案例討論,本研究發現此一平台藉由彈性模組組
合及提供預設模組實作成品的方式,可有效降低研究人員於開發過程的負擔。另
外本研究有鑑於PDR 室內定位系統的誤差累計問題,設計了一偏差校正機制名
為以重心為主的偏差校正方法,用以解決偏差累計的問題。
Pedestrian Dead Reckoning (PDR) is a popular indoor positioning mechanism
that requires minimal infrastructure. Meanwhile, smart phone is becoming popular in
recent years, making it an ideal sensor platform for indoor positioning. Nevertheless,
realizing PDR on a smart phone is still challenging as the developer has to go through
several construct/ evaluate cycles before finding appropriate algorithms and
parameters. In this paper, we propose a flexible platform for rapid-prototyping PDR
indoor positioning platform on smart phones. Based on the platform, the developer is
able to tailor the engine by composition of components so that the construct/evaluate
cycle time can be greatly reduced. Due to PDR positioning system has a problem can
cause accumulative deviation. We implement an algorithm that correct the deviation.
A case study and experiments are also presented to explain how the proposed platform
assists developers to improve accuracy.
誌謝 ................................................................................................................................. i
摘要 ...............................................................................................................................iii
Abstract ........................................................................................................................ iv
目錄 ................................................................................................................................ v
圖目錄 .......................................................................................................................... vii
表目錄 .........................................................................................................................viii
第一章前言.................................................................................................................. 1
1.1 研究背景 ........................................................................................................ 1
1.2 研究問題與目標 ............................................................................................ 3
1.3 研究方法 ........................................................................................................ 5
1.4 預期貢獻 ........................................................................................................ 7
第二章背景與相關研究.............................................................................................. 8
2.1 背景 ................................................................................................................ 8
2.2 相關研究 ........................................................................................................ 9
第三章 PDR系統快速開發平台 .............................................................................. 16
3.1 系統架構 ...................................................................................................... 16
3.2 開發流程 ...................................................................................................... 21
3.3 步幅偵測 ...................................................................................................... 22
3.4 方向偵測 ...................................................................................................... 23
第四章以重心為主的偏差修正方法 ....................................................................... 24
第五章系統評估........................................................................................................ 29
5.1 案例實作 ...................................................................................................... 29
5.2 方向判斷實驗 .............................................................................................. 31
5.3 模組替換實驗 .............................................................................................. 33
5.4 偏差校正實驗 .............................................................................................. 36
第六章結論................................................................................................................ 42
參考文獻 ...................................................................................................................... 43
附錄一:相關發表著作.............................................................................................. 45
[1] Ajay Malik, RTLS FOR DUMMIES, Wiley Publishing, Inc, 2009.
[2] A.K.Dey, ”Understanding and using context,”Personal and Ubiquitous
Computing Journal, Vol.1, No.5, pp.4-7, 2001.
[3] A. R. Pratama, Widyawan, R. Hidayat,”Smartphone-based Pedestrian Dead
Reckoning as an Indoor Positioning System,” in Proc.International Conference
on System Engineering and Technology, pp.1-6, 2012.
[4] S.H. Shin, M. S. Lee, C. G. Park, H. S. Hyun,”Pedestrian dead reckoning system
with phone location awareness algorithm, ” in Proc. IEEE/ION Position Location
and Navigation Symposium, pp.97-101, 2010.
[5] C. Fischer, P. T. Sukumar, and M. Hazas, ”Tutorial:Implementing a Pedestrian
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[6] M. Fowler, Domain Specific Languages, AW, 2010.
[7] J. A. B. Link, P. Smith, N. Viol, and K. Wehrle,”FootPath: Accurate Map-based
Indoor Navigation Using Smartphones,” in Proc. International Conference on
Indoor Positioning and Indoor Navigation, pp.1-8, 2011.
[8] W. Kang, S. Nam, Y. Han, and S. Lee, ”Improved Heading Estimation for
Smartphone-Based Indoor Positioning Systems,” in Proc. IEEE International
Symposium on Personal, Indoor and Mobile Radio Communications,
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[9] M. Popa, J. Ansari, J. Riihijarvi, P. Mahonen,”Combining Cricket System and
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[10] R. Jirawimut, P. Ptasinski, V. Garaj, F. Cecelja,W. Balachandran, ”A Method for
Dead Reckoning Parameter Correction in Pedestrian Navigation System,” in
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pp.209-215, 2001
[11] Z. Sun, X. Mao, W. Tian, X. Zhang, ”Activity Classification and Dead
Reckoning for Pedestrian Navigation with Wearable Sensors,” in Measurement
Science and Technology, Vol.20, No.1, 2009..
[12] J. Kappi, J. Syrjarinne, and J. Saarinen. ”MEMSIMU based pedestrian navigator
for handheld devices,”in Proc.International Technical Meeting of the Satellite
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[13] K. Aminian, P. Robert, E. Jequier, Y. Schutz,”Level, Downhill and Uphill
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[14] J. W. Kim, H. J. Jang, D-H. Hwang, and C. Park,”A Step, Stride and Heading
Determination for the Pedestrian Navigation System,” in Journal of Global
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[15] H. Weinberg, ”Using the ADXL202 in Pedometer and Personal Navigation
Applications,” in Analog Devices AN-602 Application Note, pp.1-8, 2002.
[16] J. Scarlet, ”Enhancing the Performance of Pedometers Using a Single
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