運用點線面不同特徵觀測量之定位技術

Pedestrian Navigation Positioning based on Point, Line or Plane Type of ObservationS

李姿瑩(Tzu-Ying Lee)

指導教授 ： 張嘉強

共同指導教授 ： 黎驥文

健行科技大學/工學院/土木工程系空間資訊與防災科技碩士班/碩士(2015年)

https://doi.org/10.6824/UCH.2015.00011

摘要

在進行室內外全空域之行人導航定位時，常會因建築物之遮蔽，影響到GPS衛星信號的接收，進而導致定位錯誤或失敗。本研究利用多種感測裝置之組合，發展並測試相關的定位方法，並依點、線、面三種特徵觀測量之運用方式進行分類探討。
在面狀特徵觀測量之運用上，本研究使用一般通訊裝置所搭載之相機進行拍攝，透過牆面控制點之交會定位演算，可獲取起始點位之坐標位置。測試成果顯示當採用5個均勻分布控制點時，影像定位之2D定位誤差約為1 m。
在點狀特徵觀測量之運用上，本研究透過MEMS的GPS/IMU組合裝置，進行GPS的坐標補償與IMU的偏移改正。測試成果顯示IMU在5 m定位誤差範圍內之有效補償時間長度約為10秒，當使用GPS/IMU組合定位時，可在60分鐘內控制連續軌跡之2D坐標誤差在3 m之範圍內。
在線狀特徵觀測量之運用上，本研究透過對預先建置之地面信標，感測距離或方位進行坐標解算。在單點擴充式之運作模式下，採短距離、雙信標之定位方式為最佳，其2D坐標誤差約為8 m；另在多點連結式之運作模式下，採頭、尾兩端點信標控制之方式為最佳，其經過閉合修正之2D坐標誤差約為1 m。

關鍵字

移動定位 ； 行人導航 ； GPS/IMU組合定位 ； 信標定位

並列摘要

It has always been a difficulty for pedestrian navigation positioning in both indoor and outdoor area due to GPS signals obstructed by the buildings. This study is attempted to apply some kinds of sensors for developing and testing the relevant positioning techniques based on their point, line or plane type of observations.
For the technique using plane type of observations, the photos taken by the mobile devices and facing a wall constellated with the control points can be solved for the coordinates of the starting point through the intersection algorithm. The test results showed that the 2D positioning error was around 1 m when five well-distributed control points were adopted.
For the technique using point type of observations, the GPS/IMU MEMS device was applied for GPS position compensations and IMU drift corrections. The test results indicated that IMU can effectively operate 10 sec within a 5 m error and GPS/IMU can provide a 3 m level of 2D positioning error for continuous tracking.
For the technique using line type of observations, the ranges or orientations were obtained between the users and the ground beacons. With a single point operation mode, less than 8 m of 2D error was achieved by using short ranging to two beacons. With a multi-point operation mode, a 1 m level of 2D error was carried out when two beacons located at the starting and ending point were applied for a closure correction

並列關鍵字

Pedestrian Navigation ； Image Intersection ； GPS/IMU Device, Ground Beacon ； Image Intersection ； GPS/IMU Device ； Ground Beacon.

參考文獻

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