以UWB為輔助之高精度定位儀及其應用

Abstract

本論文提出了一個包括GPS、Ultra-wide band (UWB)、Long Range (LoRa)及Raspberry Pi 3B+ (RPi3)模組之超寬頻輔助高精度定位儀系統架構，此系統架構可適用於Unmanned Aircraft System Traffic Mangement (UTM)無人機群系統，並且提出了一套校正UWB硬體誤差演算法，利用LoRa互相溝通及UWB彼此測距，使UWB定位達到公分級定位，再透過我們所提出的代價函數，在室外可有效改善GPS絕對位置及相對高度誤差，相對高度誤差從4.03m改善至1.74m。 本論文提出兩個高精度定位儀應用，其一為把UWB當作中繼站增加室內外定位精準度，室外相對誤差從6.00m改善至0.10m，而在室內也可接收到GPS位置，相對誤差從6.57m改善至0.37m，其二為結合60GHz毫米波回傳系統架構，以高精度定位儀得到Backend端與Endpoint端位置，利用接收端毫米波天線自動追蹤待測物，大輻強化接收端的訊號並提昇傳輸距，實際測試顯示傳輸距離至少從200m提升至500m且通訊面積增加7倍。

This paper proposes an Ultra-wideband (UWB) auxiliary high-precision module including GPS, UWB, Long Range (LoRa) and Raspberry Pi 3B+ (RPi3) modules, which can be applied to Unmanned Aircraft System Traffic Management (UTM) system. Accordingly, a set of UWB error correction method is employed to make UWB positioning error within centimeter accuracy. Then, through our proposed cost function, the longitude, latitude and relative height error of outdoors GPS can be effectively improved, and relative altitude error is improved from 4.03m to 1.74m. This paper proposes two high-precision positioning applications. The first uses UWB as a relay station, which can apply the received GPS to achieve high outdoors and indoors positioning accuracy. The outdoors relative position error is improved from 6.00m to 0.38m, and indoors relative error is improved from 6.58m to 0.37m. The second is integrating 60 GHz millimeter wave backhaul system architecture. The high-precision module reports the positions of the backend and the endpoint so that the millimeter-wave antenna at the receiving end can automatically follow the object and significantly enlarges the transmission distance. Experiment results validates that the transmission distance is increased at least from 200m to 500m and the communication area is increased by 7 times.