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研究生:李忠勳
研究生(外文):Chung Hsun Lee
論文名稱:利用慣性感測輔助改善超寬頻無線室內定位系統準確度之演算法研究設計
論文名稱(外文):Research and Design of Ultra-Wideband Wireless Indoor Positioning Accuracy Enhancement Algorithm With Inertial Measurement Unit Assistance
指導教授:魏一勤
指導教授(外文):I. C. Wey
學位類別:碩士
校院名稱:長庚大學
系所名稱:電機工程學系
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:2020
畢業學年度:108
語文別:中文
論文頁數:121
中文關鍵詞:無線傳輸室內定位超寬頻慣性測量單元定位誤差
外文關鍵詞:Wireless transmissionIndoor positionUltra-widebandInertial Measurement UnitPosition error
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目錄
指導教授推薦書
口試委員審定書
致謝 iii
中文摘要 iv
英文摘要 v
目錄 vi
圖目錄 ix
表目錄 xiv
第一章 緒論 1
1.1 研究背景環境 1
1.2 研究背景技術 8
1.3 研究動機 11
第二章 定位技術與文獻探討 13
2.1 到達時間(TOA)定位方法 13
2.2 接收信號強度(RSS)定位方法 15
2.3到達角度(AOA)定位方法 17
2.4 到達時間差(TDOA)定位方法 18
2.5 PF改善IMU定位精準度 20
2.6 KF改善BLE/IMU定位精準度 21
2.7 LKF改善WIFI/IMU定位精準度 22
2.8 KF改善UWB/IMU定位精準度 23
2.9 EKF改善UWB/IMU定位精準度 24
2.10 IEKF改善UWB/IMU定位精準度 27
2.11 PF改善UWB/IMU定位精準度 28
第三章 定位誤差之補償設計 30
3.1虛擬參考點補償法VA 30
3.1.1 虛擬參考點I (VAI) 33
3.1.2 虛擬參考點II (VAII) 34
3.2虛擬標籤補償法(VT) 37
3.2.1 虛擬標籤I (VTI) 37
3.2.2虛擬標籤II (VTII) 40
3.2.3 虛擬標籤III (VTIII) 41
第四章 實驗結果 47
4.1實驗環境 47
4.2直線定位補償實驗結果與觀察 49
4.2.1虛擬參考點實驗與結果 49
4.2.2虛擬標籤實驗與結果I 53
4.2.3虛擬標籤實驗與結果II 59
4.3轉彎定位補償實驗結果與觀察 61
4.3.1轉90度虛擬參考點實驗與結果 64
4.3.2轉90度虛擬標籤實驗與結果 67
4.3.3轉180度虛擬參考點實驗與結果 74
4.3.4轉180度虛擬標籤實驗與結果 77
4.3.5轉270度虛擬參考點實驗與結果 81
4.3.6轉270度虛擬標籤實驗與結果 83
4.3.7轉360度虛擬參考點實驗與結果 86
4.3.8轉360度虛擬標籤實驗與結果 88
4.4 繞圈定位補償實驗結果與觀察 91
4.4.1虛擬參考點實驗與結果 92
4.4.2虛擬標籤實驗與結果 95
第五章 結論 102
參考文獻 105



圖目錄
圖1-1:無線室內定位技術分類[7] 5
圖1-2:無線定位技術對比圖[5] 6
圖2-1:TOA定位示意圖 14
圖2-2:TOA定位受干擾示意圖 15
圖2-3:RSS定位示意圖 16
圖2-4:RSS指紋定位示意圖 17
圖2-5:AOA定位示意圖 18
圖2-6:TDOA定位示意圖 20
圖2-7:Lu系統流程圖[49] 21
圖2-8:Jenny系統架構圖[46] 22
圖2-9:Alwin系統架構圖[47] 23
圖2-10:Alvin系統架構圖[41] 24
圖2-11:Wang方法架構圖[38] 25
圖2-12:Xu流程架構圖[45] 26
圖2-13:Zeng流程架構圖[39] 28
圖3-1:VA補償法示意圖(a) 31
圖3-2:VA補償法示意圖(b) 31
圖3-3:VA補償法示意圖(c) 32
圖3-4:VA償法示意圖(d) 32
圖3-5:VA補償法示意圖(e) 32
圖3-6:VAI流程圖 34
圖3-7:VAII流程圖 36
圖3-8:虛擬標籤I示意圖 38
圖3-9:VTI流程圖 39
圖3-10:VTII流程圖 41
圖3-11:虛擬標籤III示意圖(a) 42
圖3-12:虛擬標籤III示意圖(b) 43
圖3-13:虛擬標籤III示意圖(c) 43
圖3-14:虛擬標籤III示意圖(d) 43
圖3-15:虛擬標籤III示意圖(e) 44
圖3-16:虛擬標籤III示意圖(f) 44
圖3-17:VTIII流程圖 46
圖4-1:實驗情境示意圖 48
圖4-2:室內無線定位系統架構圖 48
圖4-3:VAI直線定位軌跡圖 50
圖4-4:VAII直線定位軌跡圖 51
圖4-5:VA直線定位誤差比較圖 52
圖4-6:VA直線定位平均誤差比較圖 52
圖4-7:VTI直線定位軌跡圖 54
圖4-8:VTII直線定位軌跡圖 55
圖4-9:VTIII直線定位軌跡圖 55
圖4-10:VT直線定位誤差比較圖 56
圖4-11:VT直線定位平均誤差比較圖I 57
圖4-12:VT直線定位平均誤差比較圖II 58
圖4-13:VTI補償不同組測距資料之誤差 60
圖4-14:VTI最小誤差與UWB誤差比較 61
圖4-15:轉90度定位示意圖 62
圖4-16:轉180度定位示意圖 62
圖4-17:轉270度定位示意圖 63
圖4-18:轉360度定位示意圖 63
圖4-19:VAI轉90度軌跡圖 65
圖4-20:VAII轉90度軌跡圖 65
圖4-21:VA轉90度定位誤差比較圖 66
圖4-22:VA轉90度定位平均誤差比較圖 67
圖4-23:VTI轉90度軌跡圖 68
圖4-24:VTII轉90度軌跡圖 69
圖4-25:VTIII轉90度定位軌跡圖 70
圖4-26:VT轉90度定位誤差比較圖 71
圖4-27:VT轉90度定位平均誤差比較圖I 72
圖4-28:VT轉90度定位平均誤差比較圖II 73
圖4-29:VAI轉180度軌跡圖 75
圖4-30:VAII轉180度軌跡圖 75
圖4-31:VA轉180度定位誤差比較圖 76
圖4-32:VA轉180度定位平均誤差比較圖 76
圖4-33:VTI轉180度軌跡圖 78
圖4-34:VTII轉180度軌跡圖 78
圖4-35:VTIII轉180度軌跡圖 79
圖4-36:VT轉180度定位誤差比較圖 80
圖4-37:VT轉180度定位平均誤差比較圖 80
圖4-38:VA轉270度軌跡圖 82
圖4-39:VA轉270度定位誤差比較圖 83
圖4-40:VA轉270度定位平均誤差比較圖 83
圖4-41:VT轉270度軌跡圖 84
圖4-42:VT轉270度定位誤差比較圖 85
圖4-43:VT轉270度定位平均誤差比較圖 85
圖4-44:VA轉360度軌跡圖 87
圖4-45:VA轉360度定位誤差比較圖 87
圖4-46:VA轉360度定位平均誤差比較圖 88
圖4-47:VT轉360度軌跡圖 89
圖4-48:VT轉360度定位誤差比較圖 89
圖4-49:VT轉360度定位平均誤差比較圖 90
圖4-50:繞圈定位實驗示意圖 92
圖4-51:VAI繞圈定位軌跡圖 93
圖4-52:VAII繞圈定位軌跡圖 94
圖4-53:VA 轉圈定位平均誤差比較圖 95
圖4-54:VTI繞圈定位軌跡圖 96
圖4-55:VTII繞圈定位軌跡圖 96
圖4-56:VTIII繞圈定位軌跡圖 97
圖4-57:VT轉圈定位平均誤差比較圖I 98
圖4-58:VT 轉圈定位平均誤差比較圖II 99
圖4-59:繞圈實驗最大誤差值 100
圖4-60:繞圈實驗平均誤差值 101
圖4-61:繞圈實驗誤差值標準差 101


表目錄
表2-1:Wang 定位誤差值比較表[38] 25
表2-2:Xu定位誤差值比較表[45] 26
表2-3:Yan實驗定位誤差值比較表[40] 29
表4-1:各定位方法在不同角度定位之平均誤差 91
表5-1:補償結果比較表 104
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