本文選題：室內定位系統 + GPS��； 參考：《湘潭大學》2017年碩士論文

【摘要】：近年來,由于智慧家庭的橫空出世,導致各種智能硬件產品如雨后春筍一樣的都迸發(fā)出來了,定位系統也成為了網絡上的熱搜關鍵詞。雖然室外定位有比較成熟GPS(Global Positioning System)系統解決方案,并且該定位系統的定位精度達到了M級,對室外定位的需求基本可以滿足。但生活中,人們不僅有對室外定外的需求,隨著科技的發(fā)展,人們對與室內定位的呼聲越來越高。但是由于GPS在室內定位中存在嚴重的多徑干擾以及室內環(huán)境的復雜性,導致了GPS應用在室內定位精度大幅度下降,基本很難滿足用戶的需求。為此,提出了一種基于UWB的無線傳感器網絡室內定位系統的設計方案,只需要在定位的室內部署傳感器節(jié)點,分為四個錨節(jié)點和一個被定位的標簽節(jié)點。通過錨節(jié)點與標簽節(jié)點信息交互,得到時間差,通過nRF24L01把時間差傳送給上位機,上位機軟件利用改進的TDOA算法和卡爾曼濾波算法,對得到的數據進行誤差分析,數據融合,通過一系列的算法計算出目標物體相對于錨節(jié)點的相對位置,并以圓點的方式在上位機中顯示出來,便于用戶觀察目標物體的相對位置。傳統的定位算法難點在于各個節(jié)點之間的時鐘同步,以及時鐘漂移帶來的誤差累計,這樣會導致定位誤差越來越大。在本文中,首先改進了TDOA算法,利用其中一個Anchor節(jié)點作為整個系統的時鐘參考點,其廣播一條通信幀到整個系統中,啟動所有的Anchor節(jié)點,從而達到了Anchor之間的時鐘同步,降低了時鐘同步的難度,為減少時鐘漂移的誤差,并且在改進的TDOA算法中嵌入了卡爾曼濾波算法,修正和減少了時鐘誤差,提高了定位精度。最后的真實環(huán)境的測試結果表明,本論文中的定位系統的定位精度可以達到20cm左右,并且抗多徑能力強、穩(wěn)定性高。本文的研究成果可以為在復雜室內環(huán)境的情況下,實現無線傳感器室內高精度定位提供理論參考,同時本文中的無線傳感器室內定位系統的設計與實現,可以對市面上的室內定位的商業(yè)化做出有益的探索。
[Abstract]:In recent years, due to the birth of intelligent family, all kinds of intelligent hardware products have burst out, and the location system has become a hot search keyword on the network. Although there is a mature GPS(Global Positioning system solution for outdoor positioning, and the positioning accuracy of the system reaches M level, the requirement of outdoor positioning can be basically satisfied. But in life, people not only have the demand for outdoor positioning, with the development of science and technology, people are more and more vocal about indoor positioning. However, due to the serious multipath interference in indoor positioning and the complexity of indoor environment, the accuracy of GPS application in indoor positioning is greatly reduced, and it is difficult to meet the needs of users. Therefore, a design scheme of indoor positioning system for wireless sensor networks based on UWB is proposed. It only needs to deploy sensor nodes in the location room, which is divided into four anchor nodes and one tagged node. Through the information interaction between anchor node and label node, the time difference is obtained, and the time difference is transmitted to the host computer through nRF24L01. The software of upper computer uses the improved TDOA algorithm and Kalman filter algorithm to analyze the error of the obtained data and fuse the data. Through a series of algorithms, the relative position of the target object relative to the anchor node is calculated and displayed in the host computer in the form of a dot, which is convenient for the user to observe the relative position of the target object. The difficulty of the traditional localization algorithm lies in the clock synchronization between each node and the accumulation of errors caused by the clock drift, which will lead to more and more errors. In this paper, we first improve the TDOA algorithm, use one of the Anchor nodes as the clock reference point of the whole system, broadcast a communication frame to the whole system, start all the Anchor nodes, and achieve the clock synchronization between Anchor. In order to reduce the error of clock drift and to reduce the difficulty of clock synchronization, the Kalman filter algorithm is embedded in the improved TDOA algorithm, which corrects and reduces the clock error and improves the positioning accuracy. Finally, the test results of real environment show that the positioning accuracy of the positioning system in this paper can reach about 20cm, and the anti-multipath ability is strong and the stability is high. The research results in this paper can provide a theoretical reference for the realization of high precision indoor positioning of wireless sensors in complex indoor environment. At the same time, the design and implementation of wireless sensor indoor positioning system in this paper. It can make a beneficial exploration for the commercialization of indoor positioning on the market.
【學位授予單位】：湘潭大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TN925

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本文編號：1814552