基于TDC-GP22的室内定位系统设计

发布时间：2018-08-07 10:20

【摘要】：室内定位技术具有很高的实用价值,是一项前景很广阔的研究课题。现有的室内定位技术与方案除了存在着基础成本,定位精度以及普适性之间的平衡问题之外,本身的定位精度和可靠性都很难让人满意。完善现有的定位技术的同时,探索新的定位方案也是我们研究的新道路。针对室内定位的问题,本文提出了一种无时钟同步的TDOA(Time Difference of Arrival)室内定位系统的设计方案。该系统以仓储搬运机器人为背景,借助于无线电通信电路,通过高精度时间数字转换器TDC-GP22测量机器人身上的无线电发射器发出的信号到辅助节点的传播时延差(TDOA),使用双曲线定位法估计目标相对坐标位置。本文首先对室内定位技术研究背景及现状做了简单介绍,对比了现有的室内定位技术及定位算法的优缺点,同时从原理上阐述对时间测量方式及方法研究过程,表明现有的数字时间的测量方式以及测量精度足以应用在室内定位的领域。其次提出了基于TDC-GP22室内定位系统的设计方案,主要从总体的硬件布局和软件系统设计两个方面进行介绍。硬件上从芯片的选型及电路设计原因等方面进行阐述;软件上主要对各个模块的底层驱动及上层应用设计进行说明。重点介绍了时间数字转换器TDC-GP22的工作模式及软件驱动设计。接下来对TDOA时差法定位实现算法进行讨论研究,采用将Chan算法和泰勒展开法相结合的定位算法解算,即先通过Chan算法进行初始目标位置估测,再将求到的初始解作为通过泰勒展开法进行迭代计算,以获取更高精度的定位坐标。最后进行系统调试,系统基本功能运行检测的同时,分别测量了一维测距实验测试,二维定位(LOS)实验测试。二维平面实验首先进行了闭路实验,然后分别在简单环境和复杂环境下进行开路实验,分别通过Chan算法,泰勒展开法以及两者结合定位的算法计算得到的定位结果进行比较,实验结果表明该室内定位系统在简单环境的LOS二维平面下,通过Chan算法和泰勒展开法结合的定位法下定位结果理想时,误差能达到1m以内。
[Abstract]:Indoor positioning technology has high practical value and is a promising research topic. In addition to the problem of balance among basic cost, positioning accuracy and universality, the existing indoor positioning techniques and schemes are difficult to achieve satisfactory positioning accuracy and reliability. While perfecting the existing positioning technology, exploring new positioning scheme is also a new way for us to study. Aiming at the problem of indoor positioning, this paper presents a design scheme of TDOA (Time Difference of Arrival) indoor positioning system without clock synchronization. The system is based on warehousing and handling robot, with the help of radio communication circuit, A high precision time-digital converter (TDC-GP22) is used to measure the propagation delay difference between the radio transmitter and the auxiliary node of the robot. The hyperbolic positioning method is used to estimate the relative coordinate position of the target. This paper firstly introduces the background and present situation of indoor positioning technology, compares the advantages and disadvantages of existing indoor positioning techniques and localization algorithms, and expounds the research process of time measurement methods and methods in principle. The results show that the existing digital time measurement methods and measurement accuracy are sufficient for indoor positioning. Secondly, the design scheme of indoor positioning system based on TDC-GP22 is put forward, mainly from two aspects of hardware layout and software system design. The hardware is explained from the aspects of chip selection and circuit design, and the software mainly explains the bottom driver of each module and the upper application design. The working mode and software driver design of time-digital converter (TDC-GP22) are introduced in detail. Then, the TDOA moveout algorithm is discussed, and the initial target location is estimated by the Chan algorithm, which combines the Chan algorithm and Taylor expansion algorithm. The obtained initial solution is then calculated iteratively by Taylor expansion method to obtain more accurate positioning coordinates. Finally, the system is debugged, the basic function of the system is tested, and the one-dimensional ranging experiment and the two-dimensional positioning (LOS) experiment are measured respectively. First, closed circuit experiments are carried out in two-dimensional plane experiments, and then open circuit experiments are carried out in simple and complex environments. The results are compared by Chan algorithm, Taylor expansion method and the algorithm combined with the two algorithms. The experimental results show that the error of the indoor positioning system can reach less than 1m when the positioning results are ideal under the LOS two-dimensional plane of simple environment and the combination of Chan algorithm and Taylor expansion method.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN92

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