An Integrated IMU and UWB Sensor Based Indoor Positioning System
碩士 === 國立臺北科技大學 === 電機工程系所 === 105 === Despite the emerging of various sensor for indoor positioning system (IPS), these sensors have their respective advantages and disadvantages. An innovative indoor positioning system is proposed in this research by fusing an ultra-wideband (UWB) and inertial mea...
Main Authors: | , |
---|---|
Other Authors: | |
Format: | Others |
Language: | zh-TW |
Published: |
2017
|
Online Access: | http://ndltd.ncl.edu.tw/handle/d4kjze |
id |
ndltd-TW-105TIT05442097 |
---|---|
record_format |
oai_dc |
spelling |
ndltd-TW-105TIT054420972019-05-15T23:53:44Z http://ndltd.ncl.edu.tw/handle/d4kjze An Integrated IMU and UWB Sensor Based Indoor Positioning System 整合慣性感測器與超寬頻感測器的室內定位系統 Che-Cheng Liao 廖哲政 碩士 國立臺北科技大學 電機工程系所 105 Despite the emerging of various sensor for indoor positioning system (IPS), these sensors have their respective advantages and disadvantages. An innovative indoor positioning system is proposed in this research by fusing an ultra-wideband (UWB) and inertial measurement unit (IMU) sensor-based positioning solution. Given the excellent robustness of UWB and IMU sensors towards the cumulative error and external interference, respectively, the data fusion of these two sensors can lead to the robust and optimal positioning performance. The proposed sensor fusion can be accomplished by using an Extended Kalman Filter (EKF) that can estimate the IMU sensor’s systematic error and correct the positioning error simultaneously. The mechanisms of fault detection, identification and isolation are also built in the EKF design to prevent the corruption of UWB sensor measurement data and degradation of positioning performance due to the obstructions, multi-path and other potential sources of interference. The proposed sensor fusion based indoor positioning algorithm is first simulated, followed by the actual implementation for laboratory test. Extensive studies show that the positioning performance of obtained from the experimental studies are highly correlated with those of simulation results and both have demonstrated the excellent positioning performance. 姚立德 2017 學位論文 ; thesis 114 zh-TW |
collection |
NDLTD |
language |
zh-TW |
format |
Others
|
sources |
NDLTD |
description |
碩士 === 國立臺北科技大學 === 電機工程系所 === 105 === Despite the emerging of various sensor for indoor positioning system (IPS), these sensors have their respective advantages and disadvantages. An innovative indoor positioning system is proposed in this research by fusing an ultra-wideband (UWB) and inertial measurement unit (IMU) sensor-based positioning solution. Given the excellent robustness of UWB and IMU sensors towards the cumulative error and external interference, respectively, the data fusion of these two sensors can lead to the robust and optimal positioning performance. The proposed sensor fusion can be accomplished by using an Extended Kalman Filter (EKF) that can estimate the IMU sensor’s systematic error and correct the positioning error simultaneously. The mechanisms of fault detection, identification and isolation are also built in the EKF design to prevent the corruption of UWB sensor measurement data and degradation of positioning performance due to the obstructions, multi-path and other potential sources of interference. The proposed sensor fusion based indoor positioning algorithm is first simulated, followed by the actual implementation for laboratory test. Extensive studies show that the positioning performance of obtained from the experimental studies are highly correlated with those of simulation results and both have demonstrated the excellent positioning performance.
|
author2 |
姚立德 |
author_facet |
姚立德 Che-Cheng Liao 廖哲政 |
author |
Che-Cheng Liao 廖哲政 |
spellingShingle |
Che-Cheng Liao 廖哲政 An Integrated IMU and UWB Sensor Based Indoor Positioning System |
author_sort |
Che-Cheng Liao |
title |
An Integrated IMU and UWB Sensor Based Indoor Positioning System |
title_short |
An Integrated IMU and UWB Sensor Based Indoor Positioning System |
title_full |
An Integrated IMU and UWB Sensor Based Indoor Positioning System |
title_fullStr |
An Integrated IMU and UWB Sensor Based Indoor Positioning System |
title_full_unstemmed |
An Integrated IMU and UWB Sensor Based Indoor Positioning System |
title_sort |
integrated imu and uwb sensor based indoor positioning system |
publishDate |
2017 |
url |
http://ndltd.ncl.edu.tw/handle/d4kjze |
work_keys_str_mv |
AT chechengliao anintegratedimuanduwbsensorbasedindoorpositioningsystem AT liàozhézhèng anintegratedimuanduwbsensorbasedindoorpositioningsystem AT chechengliao zhěnghéguànxìnggǎncèqìyǔchāokuānpíngǎncèqìdeshìnèidìngwèixìtǒng AT liàozhézhèng zhěnghéguànxìnggǎncèqìyǔchāokuānpíngǎncèqìdeshìnèidìngwèixìtǒng AT chechengliao integratedimuanduwbsensorbasedindoorpositioningsystem AT liàozhézhèng integratedimuanduwbsensorbasedindoorpositioningsystem |
_version_ |
1719156722894897152 |