한국해양대학교

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무선통신 기반 원점 복귀를 위한 상대좌표 추정에 관한 연구

Title
무선통신 기반 원점 복귀를 위한 상대좌표 추정에 관한 연구
Author(s)
조현종
Publication Year
2014
Publisher
한국해양대학교
URI
http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002174914
http://repository.kmou.ac.kr/handle/2014.oak/9043
Abstract
Localization Systems based on wireless communications are required to complete the deployment of reference nodes and it is essential to deploy three or more reference nodes before providing localization service. Also, It is difficult to provide accurate direction to users because of accumulated error of inertial sensor with time and influence of external magnetic field. This paper presents the localization system for estimating relative coordinates without pre-deployment of the reference nodes based on UWB(Ultra Wide Band) ranging communication. The proposed localization system which consists of a mobile node composed of three nodes estimates relative coordinates of the reference node and azimuth. Also, In the process of estimating relative coordinates of the reference node, errors are minimized through a RE (Rounding Estimation) technique and Kalman filter. Experimental results show the feasibility and validity of proposed system.
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전기전자공학과 > Thesis
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000002174914.pdf Download

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