以無線訊號強度輔助GPS之群組定位技術

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姓名

林柏旻(Po-Min Lin) 查詢紙本館藏

畢業系所

通訊工程學系

論文名稱

以無線訊號強度輔助GPS之群組定位技術
(Group Positioning Technology Using GPS with AuxiliaryRadio Signal Strength)

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摘要(中)

由於無線通訊科技的迅速發展，連帶著使以定位為基礎的適地性服務
(Location-Based Service, LBS) 在商業、公眾安全與軍事上的應用也博得青睞。適地性
服務是一種以位置為基礎所提供的行動服務，主要應用包括尋找鄰近資訊、行人導航、
汽車導航、人身安全、人員與車隊管理、社群交友、區域廣告等，導航只是最常見的應
用之一。而不論是戶外或室內的定位技術，其最大爭議便是定位的精確度，目前已經有
許多文獻報告提供可利用或已應用之定位演算法。其中針對戶外定位系統服務部分，全
球衛星定位系統（GPS）是室外定位技術中最成熟的。
GPS與全球導航衛星系統（GLONASS）逐步增加新的頻段和更新衛星，以及伽利
略（Galileo）、北斗二號（CNSS）、準天頂衛星系統（QZSS）與歐洲同步衛星導航覆
蓋服務（EGNOS）等新興衛星導航的建置，使得全球導航衛星系統技術已日趨普及。
然而任何一種行動服務應用都依靠著識別使用者所在的位置為基礎，但 GPS 仍存
在著直視性（Line of Sight, LoS）限制，在室外有遮蔽物時，定位精準度將會嚴重受到
影響，甚至會因為收不到衛星訊號，導致定位精準度嚴重降低，尤其在建築物密集的都
會地區更是明顯。因此，本論文利用IEEE 802.15.1 – Bluetooth的短距離傳輸特性來輔
助 GPS 定位。在研究中，行動裝置透過 Bluetooth 互相交換定位資訊(如:經緯度) 並透
過訊號強度推算距離，用來修正群組間成員的距離誤差。
本論文提出一個新穎的群組定位方式，提供高精準群組定位的相對位置評估。本
論文針對需要群組定位的應用，例如腳踏車車隊、登山隊等，提出利用 GPS 搭配藍芽
通訊提高精準度，提供群組間定位精準的相對位置資訊。

摘要(英)

As the rapid development in wireless technology, Location-Based Service (LBS) is
widely used in the various areas; civil navigation, public safety, and military. It provides
many mobile services; neighbor information searching, pedestrian navigation, personal
security, personnel and fleet management, location status of friends, and regional advertising.
Navigation is one of the most common applications. However, any kind of LBS is relying on
to identify the user’s location.
When developing the indoor or outdoor positioning algorithm, the accuracy is the
primary concern. Several useful positioning algorithms have been published for performing
LBS. In open sky environments, Global Navigation Satellite System (GNSS) is the
well-known navigation system. GNSS is the generic name given to the satellite-based
navigation systems including global positioning system (GPS), global navigation satellite
system (GLONASS), and Galileo.
When using GPS without extra assistance, such as A-GPS or indoor GPS beacon, there
are some existing drawbacks; for example, the precision will be degraded in the
Non-Line-of-Sight (NLoS) environment such as dense metropolis, and the location will not be
able to perform in the weak signal environment such as indoor. In order to solve the problem
and improve the positioning accuracy, the mobile devices use Bluetooth to exchange GPS iv
position information (such as: latitude and longitude) and use signal strength of Bluetooth to
estimate the distance between the group members.
This thesis proposes using GPS with auxiliary Bluetooth signal strength to improve the
accuracy of position to provide relative permutation between the group members. We propose
a group positioning algorithm to obtain the relative permutated location, which is particularly
used for application such as a bicycle team, climber team and so on.

關鍵字(中)

★ 群組
★ 訊號強度
★ 藍芽
★ 全球衛星定位系統

關鍵字(英)

★ Signal Strength
★ Bluetooth
★ Group
★ GPS
★ Location Estimation

論文目次

中文摘要 ................................................................................................................................ i
ABSTRACT ......................................................................................................................... iii
CONTENTS .......................................................................................................................... v
FIGURE LIST ..................................................................................................................... vii
TABLE LIST ........................................................................................................................ ix
1. INTRODUCTION ........................................................................................................ 1
1.1 Preface................................................................................................................ 1
1.2 Problem Description ........................................................................................... 2
1.3 Thesis Organization ............................................................................................ 4
2. RELATED WORKS .................................................................................................... 5
2.1. Global Position System ....................................................................................... 5
2.2. Location Method ................................................................................................ 6
2.2.1. Angle of Arrival ......................................................................................... 6
2.2.2. Time of Arrival .......................................................................................... 7
2.2.3. RADAR-Radio Map .................................................................................. 8
2.2.4. Received Signal Strength ........................................................................... 9
2.2.5. Cooperative Localization ......................................................................... 10
2.3. Bluetooth .......................................................................................................... 12
3. GROUP POSITIONING ............................................................................................ 13
3.1. Connecting Phase ............................................................................................. 14
3.2. Distance Correcting Phase ................................................................................ 14
3.3. Relative Permutation Estimation Phase ............................................................. 17
4. LOCATION ESTIMATION ....................................................................................... 20
4.1. Experimental Testbed ....................................................................................... 20 vi
4.2. Performance Evaluation .................................................................................... 22
4.3. Hidden node ..................................................................................................... 28
5. CONCLUSIONS ........................................................................................................ 37
6. REFERENCES........................................................................................................... 38

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指導教授

許獻聰(Shiann-Tsong Sheu)

審核日期

2011-8-9

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