使用拉線編碼器及克利金模型的三邊量測法進行三維定位

3D Positioning Using Trilateration with Cable Encoders and Kriging Modeling

阮柏鈞(Po-Chun Juan)

指導教授 ： 章明 ； 林柏廷

中原大學/工學院/機械工程研究所/碩士(2017年)

https://doi.org/10.6840/cycu201700920

摘要

空間三維定位在許多領域被廣泛使用，市面上精度在公尺與微米等級間的定位系統包含：無線訊號定位、立體視覺定位、雷射掃描定位、雷射追蹤儀定位、三次元量床等，上述系統透過雷射追蹤、三邊量測法(Trilateration)、視覺辨識等方式進行三維定位。雷射定位系統雖然精度較高，但其售價動輒百萬；其他的定位方式售價較低，但是精度只有毫米等級；此外，某些量測儀器在使用上會有架設與操作方便性等問題存在。因此本研究擬發展一套成本不高且精度達次毫米等級的三維定位系統，透過三組拉線編碼器量測編碼器與待測物的距離，使用三邊量測法計算待測物的三維座標。因拉線編碼器為一種接觸式量測儀器，精度與雷射相比較不準確，本研究使用克利金法(Kriging)進行非線性誤差修正，將編碼器精度修正至±0.2mm，提升約60%的整體精度。

關鍵字

三維定位 ； 克利金法 ； 三邊量測法 ； 拉線編碼器 ； 誤差修正

並列摘要

Three-dimensions positioning was widely used in many way. For example, wireless positioning, stereo vision, laser scanner, laser tracker and coordinate measuring machine. All of those positioning accuracy are between meter to millimeter. Those systems are classified as laser tracker, trilateration and image detection in positioning modes. Besides, different measurements have convenience issue in set up and operate. In this thesis, we design a three dimensions positioning system in low cost and millimeter scale. We use three cable encoders to measure distance between encoders and target, then compute location in space by trilateration. Laser measurement is more accuracy than cable encoder because it is a contacting sensor. In this thesis, we try to use Kriging Model to correction cable encoder's error in non-linear equation. In the end, we improve accuracy to ±0.2mm over 60% increase.

並列關鍵字

3D Positioning ； Kriging Model ； Trilateration ； Cable Encoder ； Correction

參考文獻

[8] 鄭有廷, "無線網路之室內定位研究," 朝陽科技大學資訊與通訊系碩士班學位論文, pp. 1-65, 2010.

[15] 洪尚銘, "雷射追蹤儀的誤差分析," 成功大學機械工程學系學位論文, pp. 1-73, 2006.

[1] R. Mautz, "Overview of current indoor positioning systems," Geodezija ir kartografija, vol. 35, no. 1, pp. 18-22, 2009.

[4] L. Peneda, A. Azenha, and A. Carvalho, "Trilateration for indoors positioning within the framework of wireless communications," in Industrial Electronics, 2009. IECON'09. 35th Annual Conference of IEEE, 2009, pp. 2732-2737: IEEE.

[5] S. Ye, Y. Chen, and T. Hu, "Evolutionary algorithmic deployment of radio beacons for indoor positioning," in Evolutionary Computation (CEC), 2016 IEEE Congress on, 2016, pp. 2829-2835: IEEE.