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標題: | 電磁波於目標偵蒐與定位之應用 Applications of Electromagnetic Wave in Target Detecting and Positioning |
作者: | Tsung-Wei Yao 姚宗緯 |
指導教授: | 毛紹綱(Shau-Gang Mao) |
關鍵字: | 無人機,訊號到達角度定位法,超寬頻帶,訊號飛行時間,訊號到達時間差定位法, drone,Angle of Arrival,ultra-wide band,Time of Flight,Time Difference of Arrival, |
出版年 : | 2018 |
學位: | 碩士 |
摘要: | 近年來物聯網(Internet of Things, IoT)領域的興起,各種應用包括工業4.0、自動化物流倉儲管理、無人機送貨服務、無人機自動巡航遙測等等的出現,使無人機領域成為最具潛力的科技趨勢。本論文因應此一科技發展趨勢,針對無人機偵蒐與定位問題,提出了兩種利用無線電磁波的定位系統架構,分別為多天線無人機定位雷達與超寬頻帶(ultra-wide band ,UWB)室內外定位系統。在無人機定位雷達的部份,本論文使用向量頻譜分析儀(Vector Signal Analyzer, VSA)接收訊號,透過類神經網路辨識目標電磁波形,並且針對個別目標計算處理其接收功率強度(Received Signal Strength, RSS)判別相對方位,最後進行訊號到達角度定位法(Angle of Arrival, AOA)求得目標位置;在超寬頻帶(ultra-wide band, UWB)室內外定位系統中,藉由UWB具有極短時間脈衝的訊號特性,搭配訊號飛行時間定位演算法(Two Way Ranging, TWR)精確推算出訊號飛行時間(Time if Flight, TOF)與距離,並修正非直視狀態時(Non-line-of-sight, NLOS)誤差。另外透過創新同步方式達成多目標定位的訊號到達時間差定位法(Time Difference of Arrival, TDOA)架構。前者基於改良AOA開發的定位技術在偵測無人機實測中,在3個偵測基站的架設下,偵測角度達60˚,偵測距離達100公尺,且精準度達十公分等級。而後者在NLOS誤差修正上可由40公分誤差修正為7.5公分,及TDOA定位架構,不管目標數量多寡,定位時間均維持在143毫秒,且達到30公分以內之誤差。 Rapidly technological evolution is leading to advance of the drone into one of the highest potentials in Internet of Things, such as Industry 4.0, automatic warehouse and logistics management, drone delivery, and automatic drone remote sensing. Based on the wireless electromagnetic wave techniques, this thesis proposes the multi-antenna drone-detection radar system and the ultra-wideband positioning system. The multi-antenna drone-detection radar system consists of the high-gain and directional circular polarization antenna, the vector signal analyzer, the single-pole six-throw switch, and the low-noise amplifier. The vector signal analyzer is utilized to receive the transmitting signals from the drone and the neutral network model is proposed to recognize the drone. The gain pattern algorithm is proposed and the antennas and the single-pole six-throw switches is used to detect the drone direction. Finally, the Angle of Arrival technique is proposed to estimate the drone position by the gain pattern algorithm. The measured results show that the proposed system achieves 60˚detected angle and reach 100-m detected range with 10-cm level accuracy. For the ultra-wideband positioning system, the non-line-of-sight mitigation algorithm in Two Way Ranging positioning technique is estimated and a novel synchronized mechanism in Time Difference of Arrival positioning system for the multi-target positioning is proposed. For one tag positioning using Two Way Ranging positioning method, the non-line-of-sight mitigation algorithm using the channel impulse response and ranging error curve fitting is proposed to improve the tag positioning accuracy from 40 cm to 7.5 cm. For the multi-target positioning application, a novel synchronization using Time of Flight technique is proposed to implement Time Difference of Arrival positioning system. The measured results demonstrate that the proposed multi-target positioning system without using the external synchronized devices, such as GPS or clock source, achieves 30-cm positioning accuracy for every time of period 143 ms. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/79063 |
DOI: | 10.6342/NTU201802779 |
全文授權: | 有償授權 |
電子全文公開日期: | 2028-08-13 |
顯示於系所單位: | 電信工程學研究所 |
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