基于到达相位测距的室内定位系统研究与实现

发布时间：2018-04-15 05:36

本文选题：到达相位测距 + 室内定位　；参考：《华中师范大学》2016年硕士论文

【摘要】：随着现代无线网络技术的快速发展和人们生活质量的不断提高,人们对物品以及人员的定位和导航需求日益增大,尤其是在全球卫星定位系统无法覆盖的室内环境。因此如何确定物品和人员的位置就成了提供位置相关服务的关键问题。针对现有室内定位系统的成本高、精度低、不易监控等缺点,论文研究并实现了一种基于到达相位(POA, phase of arrival)技术的无线室内实时定位系统。POA技术成本低,功耗小,精度高,支持天线分集,实现的定位系统具有突出的应用潜力。论文对POA技术原理和硬件进行了深入研究,设计实现了底层、上位机、服务器三层系统,改进了测距和定位的算法,并对系统的性能进行了测试。论文的主要工作：(1)设计实现由底层、上位机、服务器三层组成的基于到达相位测距的实时定位系统。底层采用Atmel公司的AT86RF233实现基础的相位差测距,底层设计节点管理和地址轮询测距软件,实现移动节点与多锚节点循环测距。上位机通过Visual Studio平台采用C#语言开发,实现数据解析、定位计算、实时地图显示、日志记录等功能,定位计算采用改进的基于质心定位的三边定位算法。服务器软件采用HTTP通信协议,通过B/S架构的Bootstrap前端开发框架和ThinkPHP后端开发框架,实现对上位机定位结果的接收和浏览器实时显示。(2)优化POA测距数据和改进定位算法。通过引入DQF(距离质量因子)进行加权,添加自适应限幅规则限制较大波动,在不影响测距结果实时性的前提下对其进行优化,设计实现了自适应限幅加权滤波器。应用WMMSE(加权最小均方误差)改进了质心定位算法中的定位点确定方式,提升了定位算法适应性。(3)测试了系统在不同环境下的性能。分别针对系统的定位精度、测量范围、抗多径能力、实时性进行了测试。室外远距离定点测距实验检验系统的测距精度和测量范围。室内外多定点测距对比实验检验系统的抗多径性能。室内长直走道步行测距实验检验系统的测距跟踪能力。小型地下停车场定点定位实验检验系统的定位精度和稳定性。小型地下停车场移动定位实验检验系统的实时定位能力。
[Abstract]:With the rapid development of modern wireless network technology and the continuous improvement of people's quality of life, people's need for positioning and navigation of objects and personnel is increasing day by day, especially in the indoor environment which cannot be covered by GPS.Therefore, how to determine the location of goods and people becomes a key issue in providing location-related services.In view of the disadvantages of the existing indoor positioning system, such as high cost, low precision and not easy to monitor, this paper studies and implements a wireless indoor real-time positioning system based on the arrival phase POA (phase of arrival) technology, which has the advantages of low cost, low power consumption and high precision.Supporting antenna diversity, the realized positioning system has outstanding application potential.This paper deeply studies the principle and hardware of POA, designs and implements the three-layer system of bottom layer, upper computer and server, improves the algorithm of ranging and positioning, and tests the performance of the system.The main work of this paper is to design and implement a real-time positioning system based on phase of arrival ranging, which is composed of three layers: bottom layer, upper computer and server.The bottom layer uses AT86RF233 of Atmel Company to realize the basic phase difference ranging, and the bottom layer designs the software of node management and address polling to realize mobile node and multi-anchor node circular ranging.The upper computer is developed with C # language through Visual Studio platform, which realizes the functions of data analysis, location calculation, real-time map display, log recording and so on. The location calculation adopts an improved trilateral localization algorithm based on centroid positioning.The server software adopts HTTP communication protocol, through the Bootstrap front-end development framework of B / S architecture and the ThinkPHP back-end development frame, realizes the reception of the host computer localization result and the browser real-time display. 2) optimize the POA ranging data and improve the location algorithm.By introducing DQF (distance quality factor) to weighting, adding adaptive limiting rules to limit the large fluctuations, and optimizing the DQF without affecting the real-time of ranging results, an adaptive limiter weighted filter is designed and implemented.WMMSE (weighted minimum mean square error) is used to improve the location point determination method in centroid location algorithm and to improve the adaptability of the positioning algorithm. The performance of the system is tested in different environments.The positioning accuracy, measuring range, anti-multi-path ability and real-time performance of the system are tested.The range accuracy and measurement range of the system are verified by outdoor long distance distance measurement experiment.The anti-multipath performance of the system is tested by indoor and outdoor multi-fixed-point distance measurement.The measurement and tracking ability of the indoor long straight walkway walking distance measuring system is tested.The precision and stability of the fixed-point positioning experiment system for small underground parking lot are tested.The real-time positioning capability of the small underground parking lot mobile positioning experimental system is tested.
【学位授予单位】：华中师范大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TN92

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