基於異波速測距三維定位之無線感測網路研製

Design and Implementation of Wireless Sensor Network for Three Dimensional Locating System Based on Different Wave Velocities

邱志明(Chih-Ming Chiu)

指導教授 ： 姚立德 ； 翁慶昌

國立臺北科技大學/電資學院/電機工程系研究所/碩士(2011年)

https://doi.org/10.6841/NTUT.2011.00154

摘要

隨著機器人在家庭、工廠、展覽中心等室內場所逐漸地使用，機器人對於應付室內複雜環境的需求益加重要，不論機器人進行避障、路徑追蹤等動作，如果有一個可取得本身位置的輔助系統，在工作上絕對是事半功倍。故本研究針對機器人設計一套擁有三維定位功能的無線感測網路，藉由訊號時間差量測(Time Different of Arrival, TDOA)方法取得各距離感測器到機器人間的距離，進而計算出機器人即時位置，此無線感測網路之感測器軟硬體與網路架構、協定皆特別針對異波速測距需求進行設計，網路協定並可針對單一或多目標定位、不分區域或多區域等各種使用需求進行自動切換。完成一低成本、精準度佳、可擴充定位範圍的三維定位系統，機器人可藉此網路取得三維座標位置。

關鍵字

無線感測網路 ； TDOA ； 機器人 ； 室內定位

並列摘要

When the robot is used gradually in family, factory, exhibition hall and other indoor places, the robot needs higher adaptations for moving in the complex indoor environment. If there is a auxiliary system to obtain robot locating information, it can improve efficiency for the robot actions of moving, obstacle avoidance and path tracking. In this research develops a wireless sensor network (WSN) that can get robot three dimensional locating information. This WSN uses Time Different of Arrival (TDOA) to measure the distance between Transmission Unit (TPU) and each Distance Sensor (DSR) and calculates robot real-time position data. In this WSN, all of devices hardware, firmware and network protocol design to meet the needs of different wave velocities and support one TPU mode, several TPUs mode and several regions mode for each user requirement. This WSN provides a low cost, high precision and wide area three dimensional locating system and lets the robot get device position information. TPU is a high precision 3D locating system that tracks and regonize the movement.

並列關鍵字

Wireless Sensor Network ； Locating System ； Robot ； TDOA

參考文獻

[17] K. Srinivasan, and P. Levis, “Rssi is Under Appreciated,” in Proc. Conf. on Embedded Networked Sensors, 2005. [Online] Available: http://www.eecs.harvard.edu/emnets/index.shtml.

[45] K. Whitehouse, F. Jiang, C. Karlof, A. Woo, and D. Culler, “Sensor Field Localization: A Deployment and Empirical Analysis,” in Proc. UC Berkeley Technical Report, 2004. [Online] Available:

[3] S. H. Chew, P. A. Chong, E. Gunawan, K.W. Goh, Y. Kim, and C. B. Soh, “A Hybrid Mobile-based Patient Location Tracking System for Personal Healthcare Applications,” in Proc. IEEE Int. Conf. on Engineering in Medicine and Biology Society, 2006, pp.5188-5191.

[4] I. Guvenc and C.C. Chong, “A Survey on TOA Based Wireless Localization and NLOS Mitigation Techniques,” in Proc. IEEE Int. Conf. on Communications Surveys & Tutorials, 2009, pp. 107-124.

[5] N.A. Alsindi, B. Alavi, and K. Pahlavan, “Measurement and Modeling of Ultrawidebnad TOA-Based Ranging in Indoor Multipath Environments,” in Proc. IEEE Int. Conf. on Vehicular Technology, 2009, pp. 1046-1058.