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| ???org.dspace.app.webui.jsptag.ItemTag.dcfield??? | Value | Language |
|---|---|---|
| dc.contributor.advisor | 曹恆偉 | |
| dc.contributor.author | Yi-Cheng Lin | en |
| dc.contributor.author | 林易澂 | zh_TW |
| dc.date.accessioned | 2021-05-20T21:19:44Z | - |
| dc.date.available | 2012-08-01 | |
| dc.date.available | 2021-05-20T21:19:44Z | - |
| dc.date.copyright | 2011-01-17 | |
| dc.date.issued | 2010 | |
| dc.date.submitted | 2010-12-17 | |
| dc.identifier.citation | [1] Charles Abraham, Frank van Diggelen, 'Indoor GPS: The No-Chip Challenge,' GPS World, September 2001.
[2] Daniele Borio, Letizia Lo Presti, 'Galileo Open Service and Weak Signal Acquisition,' InsideGNSS, November/December 2007. [3] Mohinder S. Grewal, Angus P. Andrews, Kalman Filtering: Theory and Practice Using MATLAB, 2nd ed., John Wiley & Sons, 2001. [4] Donald R. Stephens, Phase-Locked Loops for Wireless Communications: Digital, Analog, and Optical Implementations, 2nd ed., Chapter 4, Kluwer Academic Publishers, 2002. [5] James B. Y. Tsui, Fundamentals of Global Positioning System Receivers: A Software Approach, 2nd ed. , John Wiley & Sons, 2005. [6] Nesreen I. Ziedan, GNSS Receivers for Weak Signals, Artech House, August 2006. [7] Elliott D. Kaplan, Christopher J. Hegarty, Understanding GPS: Principles and Applications, 2nd ed., Mobile Communication Series, Artech House, 2006. [8] Richard C. Dorf, Robert H. Bishop, Modern Control Systems, 11th ed., Pearson Prentice Hall, 2008. [9] Olivier Julien, 'Design of Galileo L1F Receiver Tracking Loops,' Ph.D. Dissertation of the Department of Geomatics Engeneering, University of Calgary, July 2005. [10] Bill R, Cap C, Kofahl M, Mundt T, 'Indoor and Outdoor Positioning in Mobile Environments: A Review and some Investigations on WLAN-Positioning,' Geographic Information Sciences: Journal of The International Association of Chinese Professionals in Geographic Information Sciences, vol. 10, no. 2, 2004, pp. 91–98. [11] J. Wang, 'Pseudolite Applications in Positioning and Navigation: Progress and Problems,' Journal of Global Positioning Systems, The International Association of Chinese Professionals in Global Positioning Systems, vol. 1, no. 1, 2002, pp. 48–56. [12] Gerard Lachapelle, 'GNSS Indoor Location Technologies,' Journal of Global Positioning Systems, The International Association of Chinese Professionals in Global Positioning Systems, vol. 3, no. 1-2, 2004, pp. 2–11. [13] Dah-Jing Jwo, 'Remarks on The Kalman Filtering Simulation and Verification,' Applied Mathematics and Computation, vol. 186, no. 1, March 2007. [14] J. W. M. Bergmans, 'Effect of Loop Delay on Stability of Discrete-Time PLL,' IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications, vol. 42, no. 4, April 1995. [15] S. A. Stephens, J. B. Thomas, 'Controlled-Root Formulation for Digital Phase-Locked Loops,' IEEE Transactions on Aerospace and Electronic Systems, vol. 31, no. 1, January 1995. [16] Phillip W. Ward, 'Performance Comparisons Between FLL, PLL and a Novel FLL-Assisted-PLL Carrier Tracking Loop Under RF Interference Conditions,' Proceedings of the 11th International Technical Meeting of The Satellite Division of ION, Nashville, TN, September 1998, pp. 783–795. [17] Psiaki, M. L., and H. Jung, 'Extended Kalman Filter Methods for Tracking Weak GPS Signals,' Proceedings of GPS 2002 Conference of The Institute of Navigation, Portland, OR, September 24–27, 2002, pp. 2539–2553. [18] G. Lachapelle, H. Kuusniemi, D. T. H. Dao, G. MacGaugan, M. E. Cannon, 'HSGPS Signal Analysis and Performance under Various Indoor Conditions,' Proceedings of GPS/GNSS 2003 Conference of The Institute of Navigation, Portland, OR, September 2003, pp. 1171–1184. [19] Olivier Julien, 'Carrier-Phase Tracking of Future Data/Pilot Signals,' Proceedings of the 18th International Technical Meeting of The Satellite Division of The Institute of Navigation, Long Beach, CA, September 2005, pp. 113–124. [20] Todd E. Humphreys, Mark L. Psiaki, Paul M. Kintner, Jr., Brent M. Ledvina, 'GPS Carrier Tracking Loop Performance in The Presence of Ionospheric Scintillations,' Proceedings of the 18th International Technical Meeting of The Satellite Division of The Institute of Navigation, Long Beach, CA, September 2005, pp. 156–167. [21] W. Yu, G. Lachapelle, S. Skone, 'PLL Performance for Signals in the Presence of Thermal Noise, Phase Noise, and Ionospheric Scintillation,' Proceedings of the 19th International Technical Meeting of The Satellite Division of The Institute of Navigation, Fort Worth, TX, September 2006, pp. 1341–1357. [22] C. Mongredien, M.E. Cannon, G. Lachapelle, 'Performance Evaluation of Kalman Filter Based Tracking for the New GPS L5 Signal,' Proceedings of the 20th International Technical Meeting of The Satellite Division of The Institute of Navigation, Fort Worth, TX, September 2007, pp. 749–758. [23] Matthew Lashley, David M. Bevly, 'Comparison of Traditional Tracking Loops and Vector Based Tracking Loops for Weak GPS Signals,' Proceedings of the 20th International Technical Meeting of The Satellite Division of The Institute of Navigation, Fort Worth, TX, September 2007, pp. 789–795. [24] Philip G. Mattos, 'Indoor Galilieo Receivers: Sensitivity, Pilot Signals, Secondary Codes,' Proceedings of the 20th International Technical Meeting of The Satellite Division of The Institute of Navigation, Fort Worth, TX, September 2007, pp. 1042–1048. [25] Stefan Kiesel, Christian Ascher, Daniel Gramm, Gert F. Trommer, 'GNSS Receiver with Vector Based FLL-Assisted-PLL Carrier Tracking Loop,' Proceedings of the 11th International Technical Meeting of The Satellite Division of ION, Savannah, GA, September 2008, pp. 197–203. [26] Philip G. Mattos, 'Hot Start Every Time: Compute The Ephemeris on The Mobile,' Proceedings of the 11th International Technical Meeting of The Satellite Division of ION, Savannah, GA, September 2008, pp. 204–211. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/10316 | - |
| dc.description.abstract | 全球定位系統（GPS）是目前使用最廣泛的全球衛星導航系統（GNSS）。其諸多好處如系統開放，易於使用，以及快速精確的定位使得它被廣泛應用在工程定位，車輛導航，個人導航裝置，以及其它許多產品或系統當中。90 年代中期美國聯邦通訊委員會（FCC）要求新一代行動電話必頇具備緊急 911（E-911）的功能，即能回傳室內使用者的所在位置。這開啟了在室內使用 GPS 定位的研究，其中最主要的挑戰在於處理被遮蔽物衰減的微弱衛星信號。本論文針對適用於微弱 GPS信號的追蹤迴路進行探討，包括傳統的追蹤迴路，以及基於延伸型卡爾曼濾波器（extended Kalman filter）的追蹤迴路。模擬結果顯示相較於傳統追蹤迴路，延伸型卡爾曼濾波器追蹤迴路對一般以及微弱 GPS 信號能分別有較小與相當的電碼相位均方追蹤誤差 （mean squared tracking error），同時其對信號動態 （signal dynamics）的反應亦優於傳統追蹤迴路。但傳統追蹤迴路於初始時能容許較大的載波頻率估計誤差。此外，本論文並對兩種追蹤迴路的計算複雜度進行分析與比較，以作為實現時的成本參考依據。 | zh_TW |
| dc.description.abstract | Global Positioning System (GPS) is the most widely used Global Navigation Satellite System (GNSS) nowadays. Advantages such as open system, easy to use, and fast and accurate positioning have made it being applied to engineering surveying, vehicular navigation, personal navigation devices, and many other products and systems. In the mid-90s, the U.S. Federal Communication Committee (FCC) demanded the Emergency-911 (E-911) capability on all new generation mobile phones, which requires a return of user position even indoor. This has opened the research of indoor GPS. The main challenge is to process the weak satellite signals degraded by the attenuation due to buildings. In this thesis, tracking loops for weak GPS signals are investigated, which include the conventional tracking loop and the extended Kalman filter (EKF) based tracking loop. Simulation results show that for normal and weak GPS signals, the EKF-based tracking loop has smaller and identical mean squared code phase tracking error than the conventional tracking loop, and it can handle signal dynamics better too. However, the conventional tracking loop requires less accurate initial carrier frequency estimation than the EKF-based tracking loop. In addition, the arithmetic complexity of the two tracking loops are also analyzed and compared in this thesis, to provide a basic prediction of implementation costs. | en |
| dc.description.provenance | Made available in DSpace on 2021-05-20T21:19:44Z (GMT). No. of bitstreams: 1 ntu-99-R97942108-1.pdf: 1590528 bytes, checksum: fd08e2f6389bdcbc27cb5c837b91b7c8 (MD5) Previous issue date: 2010 | en |
| dc.description.tableofcontents | 摘要 ........................................................................................................ I
Abstract ................................................................................................. III 目錄 ...................................................................................................... IV 圖目錄 ................................................................................................. VIII 表目錄 ................................................................................................... XII 第一章 緒論 ............................................................................................. 1 1.1 研究背景 ............................................................................................ 1 1.2 研究動機和預期貢獻 ............................................................................ 2 1.3 論文架構 ............................................................................................ 2 第二章 微弱GPS信號問題分析 ................................................................... 5 2.1 GPS 訊號強度衰減的應對方式 ............................................................. 5 2.1.1 搭配額外感知系統輔助 ...................................................................... 5 2.1.2 透過通信網路獲取輔助 ...................................................................... 6 2.1.3 架設虛擬衛星 .................................................................................... 7 2.1.4 整合導航與追蹤 ................................................................................. 7 2.1.5 自主計算星曆 .................................................................................... 8 2.1.6 提升接收靈敏度 ................................................................................. 8 2.2 提升追蹤靈敏度時頇克服的問題 .......................................................... 11 2.2.1 增加解展頻增益時頇克服的問題 ....................................................... 11 2.2.2 設計追蹤迴路時頇克服的問題 ........................................................... 15 第三章 追蹤迴路架構分析 ........................................................................ 23 3.1 傳統追蹤迴路 ..................................................................................... 24 3.1.1 相關器 ........................................................................................... 26 3.1.2 載波追蹤迴路鑑別器 ....................................................................... 28 3.1.3 電碼追蹤迴路鑑別器 ....................................................................... 30 3.1.4 載波與電碼追蹤迴路濾波器 ............................................................. 32 3.1.5 載波與電碼數字控制振盪器 ............................................................. 42 3.1.6 sin, cos 對照表與電碼產生器 .......................................................... 44 3.2 延伸型卡爾曼濾波器追蹤迴路 ............................................................ 47 3.2.1 延伸型卡爾曼濾波器簡介 ................................................................ 47 3.2.2 追蹤迴路演算法 .............................................................................. 53 3.2.3 演算法等效架構 .............................................................................. 57 3.3 信號強度估計與脫鎖偵測 ................................................................... 59 第四章 追蹤迴路架構設計 ....................................................................... 65 4.1 傳統追蹤迴路設計 ............................................................................ 65 4.1.1 追蹤迴路個數 ................................................................................ 65 4.1.2 追蹤迴路階數 ................................................................................ 67 4.1.3 鑑別器種類 ................................................................................... 70 4.1.4 等效雜訊頻寬 ................................................................................ 72 4.2 延伸型卡爾曼濾波器追蹤迴路設計 ..................................................... 79 4.2.1 鑑別器種類 .................................................................................... 79 4.2.2 系統狀態雜訊共變異數矩陣 ............................................................. 80 4.2.3 系統狀態初始估計誤差共變異數矩陣 ................................................ 84 4.3 追蹤迴路計算複雜度分析與比較 .......................................................... 84 第五章 電腦模擬 .................................................................................... 87 5.1 追蹤迴路初始效能 ............................................................................ 87 5.2 信號動態追蹤效能 ............................................................................ 94 5.3 穩態均方追蹤誤差 ............................................................................ 99 第六章 結論與未來展望 ........................................................................ 103 6.1 結論 ............................................................................................... 103 6.2 未來展望 ......................................................................................... 104 附錄 ..................................................................................................... 107 參考文獻 ............................................................................................... 111 | |
| dc.language.iso | zh-TW | |
| dc.title | 基於延伸型卡爾曼濾波器的全球定位系統追蹤迴路設計與分析 | zh_TW |
| dc.title | Design and Analysis of Extended Kalman Filter Based GPS Tracking Loops | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 99-1 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 張帆人,闕志達,陳坤佐 | |
| dc.subject.keyword | 全球定位系統,全球導航衛星系統,室內定位,微弱信號,延伸型卡爾曼濾波器,追蹤,鎖相迴路, | zh_TW |
| dc.subject.keyword | GPS,GNSS,indoor positioning,weak signal,extended Kalman filter,tracking,PLL, | en |
| dc.relation.page | 114 | |
| dc.rights.note | 同意授權(全球公開) | |
| dc.date.accepted | 2010-12-17 | |
| dc.contributor.author-college | 電機資訊學院 | zh_TW |
| dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
| Appears in Collections: | 電機工程學系 | |
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|---|---|---|---|
| ntu-99-1.pdf | 1.55 MB | Adobe PDF | View/Open |
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