基於氣壓感測器特性的三維室內定位技術研究

A Research on 3D Positioning Techniques Based on Characteristics of Barometric Pressure Sensors in Indoor Environments

周峻儀(Chun-Yi Chou)

指導教授 ： 邱奕世

中原大學/電機資訊學院/電子工程研究所/碩士(2021年)

https://doi.org/10.6840/cycu202100972

摘要

隨著室內定位的需求提升，如今已經有各式各樣的室內定位技術如Wi-Fi (Wireless Fidelity)、藍芽、紅外線、RFID (Radio Frequency Identification) 等，並且已經有了許多相關用於三維定位的研究，由於LS (Least Square) 定位演算法在三維定位中複雜度太高，所以加入並使用氣壓感測器 (BPSs，Barometric Pressure Sensors)，這樣定位演算法可以從三維定位降至二維定位進而降低運算複雜度，並提高定位的準確度。BPS則是使用壓力高度的概念，並提出了一種利用BPS特性的垂直定位方法，其中可以從 BPS 中測量和提取移動設備的高度資訊。考慮到大氣壓力變化和雜訊的環境因素，提出了校準方法來計算Z-軸的高度資訊並補償BPS之間的偏移差異，並且研究BPS的壓力解析度、溫度解析度與加入IIR (Infinite Impulse Response) 濾波器，將測得到的氣壓轉換成高度，使其擁有與高度計相同的功能，之後將BPS測量並處理後的高度值和LS定位演算法做結合用於進行三維定位，最後將三維的LS定位演算法、ORG (Original) 定位演算法與二維的LS定位演算法結合BPS、ORG定位演算法結合BPS進行比較。

關鍵字

氣壓感測器 ； 室內定位系統 ； 卡爾曼濾波 ； LS演算法 ； 三角定位

並列摘要

Given the increasing demand for the applications of location-based services (LBSs), there are a variety of indoor positioning technologies such as wireless fidelity (Wi-Fi), Bluetooth, infrared, radio frequency identification (RFID). There have been many related three-dimensional (3D) positioning studies. This thesis presents the least square (LS) positioning approach and the traditional positioning approach using in 3D localization systems. In the light of the concept of the pressure altitude, vertical positioning approaches using the characteristics of barometric pressure sensors (BPSs) are presented in this thesis. On the basis of the altitude information extracted from the BPSs, the height information of Z-axis of mobile devices is determined. In addition, the altitude information derived from barometric measurements is depending on factors of temperature, weather, airflow, and quantization noises. To compensate the differences, the measured altitude data is calibrated for the vertical-location metric of positioning systems with different BPSs. In terms of researches on 3D positioning techniques based on characteristics of BPSs in indoor environments, the effects of the pressure resolution, temperature resolution, and infinite impulse response (IIR) filtering approaches are also considered in this thesis. To improve the location accuracy, as compared with 3D original triangulation (ORG) positioning approach and 3D-LS positioning approaches, the proposed approaches achieve more location accuracy with much lower computational complexity in the light of KF tracking approach and characteristics of BPSs.

並列關鍵字

barometric pressure sensor ； indoor positioning system ； Kalman filter ； LS algorithm ； triangulation

參考文獻

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