精確室內幾何定位對於商業、公共安全與軍事上的應用是一項重要且新興的技術。大部分用於室內定位的無線通訊系統皆會受到嚴重的多重路徑訊號干擾，定位效能因此下降。本論文提出之改良型TDOA/AOA(Time Difference of Arrival/ Angle of Arrival)定位法，架構於超寬頻( Ultra-Wideband )系統中，除利用超寬頻訊號具有良好的多重路徑時間解析特性，提昇室內定位的準確性之外，並改良TDOA/AOA定位法，在視線情形下，除了抵達時間差之外，增加抵達方位角資訊達到以精確室內定位之目的；在非視線情況下，提出抑制非視線時間誤差技術以及角度資訊選擇，以減輕非視線誤差對定位的影響。最後利用擴展式卡爾曼濾波器(Extended Kalman Filter)，提供目標物行進路線的追蹤。
在非視線之定位模擬中，根據室內超寬頻通道特性產生非視線時間誤差，並假設不同非視線角度誤差，電腦模擬結果顯示，經由抑制非視線時間誤差技術以及角度資訊選擇能有效減少非視線環境對定位誤差的影響，並能即時偵測出基地台與行動台是否遭受到非視線誤差的影響。

Accurate indoor geolocation is an important and novel emerging technology for commercial, public safety, and military applications. Since most wireless communication systems used for indoor position location may suffer from dense multipath situation, which leads to a severe degradation of position accuracy. The improved TDOA/AOA(Time Difference of Arrival/ Angle of Arrival) position location for indoor ultra-wide band (UWB) systems in the thesis improves the position accuracy of indoor location by using fine resolution of UWB signals. In the line of sight situation, by means of increasing angle of arrival (AOA) information to time difference of arrival (TDOA) based location to achieve the goal of accurate indoor geolocation and provides non-line of sight (NLOS) error mitigation for time measurement and AOA selection to suppress the impact to position accuracy in NLOS environment. Finally, the extended Kalman filter is used to perform position tracking of the target.
In the simulations, the NLOS error in time measurement is produced according to the characteristics of indoor UWB channel. Several assumptions of NLOS errors are made in angular measurement. It is observed that proposed method efficiently mitigates the position error in NLOS environment, and detect if the NLOS exists between base station and mobile station immediately.

感謝詞……………………………………i
中文摘要…………………………………ii
英文摘要…………………………………iii
目錄………………………………………iv
圖目錄……………………………………vi
表目錄……………………………………ix

第一章 導論.................................1
1.1 室內幾何定位概述...........................1
1.2 超寬頻系統概述.............................2
1.3 研究動機...................................5
1.4 論文架構...................................5
第二章 無線定位法則與無線通道特性 ................6
2.1 無線定位原理.....................................6
2.1.1接收訊號強度定位法..............................6
2.1.2 訊號抵達角度定位法 .........................7
2.1.3 訊號抵達時間定位法.............................9
2.1.4 訊號抵達時間差定位法...........................12
2.1.5 混合式定位法...................................14
2.2 影響定位準確性因素的來源.........................17
2.2.1 多重路徑傳播...................................17
2.2.2 非視線傳播.....................................18
第三章 改良型TDOA/AOA定位系統.......................19
3.1 改良型TDOA/AOA定位法 ..........................19
3.2 改良型TDOA/AOA定位系統架構........................22
3.3 參數模型..........................................24
3.3.1 時間之參數模型..................................24
3.3.2 角度之參數模型..................................26
3.4 抑制非視線誤差之技術 ...........................30
3.4.1 抑制時間上非視線誤差之技術......................30
3.4.1.1 卡爾曼濾波器 ...........................32
3.4.1.2 非視線誤差之判別..............................34
3.4.1.3非視線誤差之抑制...............................34
3.4.2抵達角度之選擇與探討.............................35
3.5 定位與追蹤........................................37
第四章 改良型TDOA/AOA定位之電腦模擬與分析.............43
4.1 視線情形下之定位模擬..............................43
4.1.1 加入不同AOA數目對定位之影響.....................44
4.1.2 量測誤差對定位之影響............................45
4.2 非視線情形下之定位模擬............................48
4.2.1 抵達非視線角度誤差分布對定位的影響..............52
4.2.2 抑制非視線時間誤差能力對定位之影響..............68
第五章 結論與建議.....................................72
參考文獻..............................................74


圖目錄
圖1.1 無線幾何定位系統之方塊圖.........................2
圖1.2 超寬頻頻寬示意圖.................................3
圖2.1 RSS定位方式示意圖................................7
圖2.2 AOA定位方式示意圖................................8
圖2.3角度解析度對定位誤差的影響........................9
圖2.4 TOA定位方法示意圖...............................11
圖2.5 TOA定位方式受到NLOS誤差的影響...................12
圖2.6 TDOA定位方式示意圖..............................14
圖2.7 TDOA/AOA定位方式示意圖..........................16
圖3.1改良型TDOA/AOA定位之示圖.........................21
圖3.2 改良型TDOA/AOA定位系統架構......................23
圖3.3 TDOA/AOA定位系統架構............................23
圖3.4 NLOS時間誤差機率分布函數........................26
圖3.5 NLOS角度誤差分布-假設一.........................28
圖3.6 NLOS角度誤差分布-假設二.........................29
圖3.7 NLOS角度誤差分布-假設三.........................29
圖3.8 抑制時間非視線誤差之流程圖......................31
圖3.9 卡爾曼濾波器整體系統流程圖......................34
圖3.10 AOA selection之流程圖..........................36
圖4.1 加入不同AOA數目之定位誤差比較...................44
圖4.2 量測誤差變動下TDOA/AOA之定位誤差................46
圖4.3 量測誤差變動下改良型TDOA/AOA之定位誤差..........46
圖4.4 相同距離量測誤差下TDOA/AOA與改良型TDOA/AOA之定
位誤差比較............................................47
圖4.5 相同角度量測誤差下TDOA/AOA與改良型TDOA/AOA之定
位誤差比較............................................47
圖4.6 基地台與行動台的相對關係........................49
圖4.7 MS、BS與阻隔物之相對關係為狀況1.................50
圖4.8 MS、BS與阻隔物之相對關係為狀況2.................50
圖4.9 MS、BS與阻隔物之相對關係為狀況3.................51
圖4.10 MS、BS與阻隔物之相對關係為狀況4................51
圖4.11(a)~(d) BS、MS與阻隔物關係分別為狀況1~4時，在假設A下，非視線角度誤差對RMSE的影響........................54
圖4.12 狀況1與狀況2中改良型TDOA/AOA定位之RMSE曲線
比較..................................................56
圖4.13 狀況3與狀況4中改良型TDOA/AOA定位之RMSE曲線
比較..................................................56
圖4.14(a)~(d) BS、MS與阻隔物關係分別為狀況1~4時，在假設B
下， 非視線角度誤差對RMSE的影響.......................58
圖4.15(a)~(d) BS、MS與阻隔物關係分別為狀況1~4時，在假設C
下， 非視線角度誤差對RMSE的影響.......................60
圖4.16(a)~(d) BS、MS與阻隔物關係分別為狀況1~4時，在假設D
下， 非視線角度誤差對RMSE的影響.......................63
圖4.17(a)~(d) BS、MS與阻隔物關係分別為狀況1~4時，在假設E
下，非視線角度誤差對RMSE的影響.......................66
圖4.18 BS2與行動台之間真實的距離以及量測距離經過非視線時間
誤差抑制之結果........................................68
圖4.19 BS3與行動台之間真實的距離以及量測距離經過非視線時間
誤差抑制之結果........................................69
圖4.20改良型TDOA/AOA定位之RMSE曲線圖..................69
圖4.21非視線時間誤差完全被抑制的情形下，BS、MS與阻隔物關係
為狀況2時，在假設3 下，非視線角度誤差對RMSE的影響
................................................70
表目錄
表2.1無線定位原理與誤差因素對照表......................17
表3.1 IEEE 802.15.3a 超寬頻通道標準模型參數............25
表4.1 視線情形定位模擬參數設定.........................43
表4.2 非視線情形定位模擬參數設定.......................48
表4.3 非視線角度誤差分布之假設.........................52

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