2 research outputs found
Pseudolite/Ultra Low-Cost IMU Integrated Robust Indoor Navigation System through Real-time Cycle Slip Detection and Compensation
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Όλ¬Έ (μμ¬)-- μμΈλνκ΅ λνμ 곡과λν κΈ°κ³ν곡곡νλΆ, 2017. 8. κΈ°μ°½λ.GNSSλ₯Ό ν΅ν νλ²μ΄ νμ±ν λλ©΄μ GNSS νλ²μ΄ λΆκ°λ₯ν μ€λ΄μμμ νλ²μ λν νμμ± μμ μ¦κ°νκ³ μλ€. νμ§λ§ μ€λ΄ νκ²½μ κ²½μ° νλ²μ μνν¨μ μμ΄ λ°©ν΄κ° λλ μμλ€μ΄ λ§κΈ° λλ¬Έμ μμ§ νμ€νλ€κ³ ν μ μλ μ€λ΄νλ²μμ€ν
μ κ°λ°λμ΄ μμ§ μλ€. μ΄μ λ°λΌ μνν μ€λ΄ νλ² μμ€ν
μ κ°λ°νκΈ° μν΄ νμ¬ RFID, Wi-Fi, Visual Sensor, IMU κ·Έλ¦¬κ³ μμ¬μμ± λ± λ€μν λ°©μμ μ°κ΅¬λ€μ΄ μ§νλκ³ μλ€.
κ·Έ μ€ λμ μ νλμ μμΉκ²°κ³Όλ₯Ό μ»μ μ μλ μμ¬μμ± λ°μ‘ν μ νΈμ μ κ°μ IMU κ·Έλ¦¬κ³ Magnetometerμ κ²°ν©μ ν΅ν΄ μ€λ΄ νλ²μ μλνμλ μ°κ΅¬κ° μ‘΄μ¬νμλ€. νμ§λ§ μ΄ κ²½μ° λ°μ‘νμ μ¬μ΄ν΄ μ¬λ¦½ λ°μ λ¬Έμ κ° λ¨μ μμκΈ° λλ¬Έμ νλ²μλ μ νμ΄ μμλ€. λ λ€λ₯Έ μ°κ΅¬λ‘λ μ€μΈμμ GPSμ IMUμ κ²°ν©μ ν΅ν΄ μ¬μ΄ν΄ μ¬λ¦½μ κ²μΆ λ° λ³΄μν μ°κ΅¬κ° μμλ€. μ΄λ μ€μΈνκ²½μμ μ§νλ μ°κ΅¬λ‘μ¨ 1 μ¬μ΄ν΄ λ¨μμ μ¬λ¦½ λ§ κ²μΆ κ°λ₯νμλ€. κ·Έλ°λ° μ€λ΄νκ²½μμλ μ¬μ΄ν΄ μ¬λ¦½ λ°μλ₯ μ΄ λ λμ νν μ¬μ΄ν΄ λ¨μμ μ¬λ¦½κΉμ§λ μμ£Ό λ°μνκΈ° λλ¬Έμ μ€λ΄νλ²μμλ μ΄λ₯Ό κ·Έλλ‘ μ μ©ν μ μμλ€.
λ³Έ μ°κ΅¬μμλ μμ λ λ¬Έμ λ₯Ό λ€μκ³Ό κ°μ λ°©λ²μΌλ‘ ν΄κ²°νμλ€. λ¨Όμ μμ¬μμ±κ³Ό μ΄μ κ° IMUμ κ²°ν©μ ν΅ν΄ μ¬μ΄ν΄ μ¬λ¦½μ κ²μΆ λ° λ³΄μν΄ μ€μΌλ‘μ¨ μμ¬μμ± μμ€ν
μ λ¨μμλ λ¬Έμ μ μΈ μ¬μ΄ν΄ μ¬λ¦½ λ°μ λ¬Έμ λ₯Ό ν΄κ²°νκ³ μ νμλ€. λν μ€λ΄νκ²½μμλ μ¬μ΄ν΄ μ¬λ¦½μ λ°μλ₯ μ΄ λκΈ° λλ¬Έμ νν μ¬μ΄ν΄ λ¨μμ μ¬λ¦½ μμ μμ£Ό λ°μνκ² λλ―λ‘ μ¬μ΄ν΄ μ¬λ¦½ κ²μΆ λ° λ³΄μμ νν μ¬μ΄ν΄ λ¨μκΉμ§ ν΄μ€μΌλ‘μ¨ μ΄λ₯Ό ν΄κ²°νκ³ μ νμλ€.
μ΅κ·Ό μ€λ§νΈ ν°μ λ°λ¬λ‘ μΈν΄ μ€λ§νΈν°μ νμ©νμ¬ μνν μ μλ μμ
λ€μ κΈ°μ μ μμ€κ³Ό νμ©λ²μκ° λͺ¨λ μ¦κ°νκ³ μλ€. μ΄μ λ°λΌ κΆκ·Ήμ μΌλ‘λ μ€λ§νΈ ν° λ΄μμ μ΄ λͺ¨λ μμ
μ΄ μνλλ μ€λ΄ νλ²μ κ°λ°νλ κ²μ΄ λͺ©νμ΄λ€. κ·Έ κ³Όμ μ μΌνμΌλ‘ μ€λ§νΈ ν°μ λ΄μ₯λ μ΄μ κ° IMUλ₯Ό μμ¬μμ±/IMU κ²°ν©μ μ¬μ©νμκ³ μ΄μ κ° IMUλ₯Ό μ¬μ©νκΈ° μν μΌμ λͺ¨λΈλ§μ μννμμΌλ©° λ°μ΄ν°μ μ‘΄μ¬νλ μ΄μ λ¬Έμ λ±μ μ²λ¦¬νμλ€.
κ²°κ³Όμ μΌλ‘ μμ¬μμ± λ¨λ
λλΉ μμ¬μμ±/μ΄μ κ° IMU κ²°ν©νλ²μ μμΉ μ νλλ 30%μ λ ν₯μλμμΌλ©° νν μ¬μ΄ν΄ μ¬λ¦½ κ²μΆμ μμ΄μλ thresholdλ₯Ό 0.5 half cycle λ‘ μ€μ νμμ κ²½μ° false alarmκ³Ό miss detectionμ λ°μ νλ₯ μ΄ γ10γ^(-8) μμ€μ΄μλ€.
μ΄ κ²°κ³Όλ₯Ό νμΈνκΈ° μν΄ KOBUKI`λ‘λ΄κ³Ό μ€λ§νΈ ν°μ μ΄μ©νμ¬ μ€μκ° νλ²μ ꡬννμμΌλ©° μ€μκ°μΌλ‘ νν μ¬μ΄ν΄ λ¨μμ μ¬λ¦½λ€μ μμλ‘ λ°μμν€λλΌλ κ²μΆ λ° λ³΄μλμ΄ νλ²κ³Ό μ μ΄κ° μ μ μ§λλ κ²μ νμΈνμλ€.μ 1 μ₯ μ λ‘ 1
μ 1 μ μ°κ΅¬ λκΈ° λ° λͺ©μ 1
μ 2 μ μ°κ΅¬ λν₯ 2
μ 3 μ μ°κ΅¬ λ΄μ© λ° λ°©λ² 5
μ 4 μ μ°κ΅¬μ κΈ°μ¬λ 6
μ 2 μ₯ Extended Kalman Filterλ₯Ό ν΅ν μμ¬μμ±/μ΄μ κ° IMU κ²°ν© 7
μ 1 μ μμ¬μμ± κΈ°λ° μ€λ΄νλ²μμ€ν
7
1. μ€μ°¨ μμ 8
2. CDGPS 8
μ 2 μ μ΄μ κ° IMU 10
1. κ°μλκ³ 10
2. μμ΄λ‘μ€μ½ν 16
3. μΌμ λ°μ΄ν° μ΄μ νμ 21
μ 3 μ μ 체 μμ€ν
κ΅¬μ± 23
μ 4 μ Extended Kalman Filter 24
1. State 25
2. Nonlinear Equation 25
3. State Equation 26
μ 5 μ Sensor Bias Modeling λ° λ°μ΄ν° μ΄μνμ ν΄κ²° 27
1. κ°μλκ³ Bias Modeling 28
2. μμ΄λ‘μ€μ½ν Bias Modeling 29
3. κ°μλκ³ λ°μ΄ν° μ΄μ λ¬Έμ ν΄κ²° 29
4. μμ΄λ‘μ€μ½ν λ°μ΄ν° μ΄μ λ¬Έμ ν΄κ²° 31
μ 6 μ μλ, ν€λ© Measurement 34
1. μλ Measurement 34
2. ν€λ© Measurement 37
μ 7 μ Process Noise and Measurement Noise 38
1. Process Noise 38
2. Measurement Noise 39
μ 3 μ₯ νν μ¬μ΄ν΄ μ¬λ¦½ κ²μΆ λ° λ³΄μ 41
μ 1 μ μμ¬μμ± λ°μ‘νλ₯Ό μ΄μ©ν μ€λ΄νλ²μμμ νν μ¬μ΄ν΄ μ¬λ¦½ λ°μ 41
μ 2 μ μ¬μ΄ν΄ μ¬λ¦½ κ²μΆ μκ³ λ¦¬μ¦ 43
μ 3 μ νν μ¬μ΄ν΄ μ¬λ¦½μ κ²μΆ νλ₯ 46
μ 4 μ Monitoring Value μμ¬μ€μ°¨ λΆμ 49
1. Carrier Phase μΈ‘μ μΉμ λ°μνλ μ€μ°¨ 50
2. κ²°ν©νλ²μΌλ‘ μΆμ ν Distance νμ ν¬ν¨λλ μ€μ°¨ 51
μ 5 μ μ¬μ΄ν΄ μ¬λ¦½ 보μ μκ³ λ¦¬μ¦ 60
μ 4 μ₯ μ€μκ° νλ² κ΅¬μ± λ° κ²°κ³Ό 62
μ 1 μ μ€μκ° νλ² κ΅¬μ± 62
1. μ 체 μ₯λΉ κ΅¬μ± 62
2. μλ¦¬μΌ ν΅μ κ΅¬μ± 63
3. μ€μκ° νλ² νλ‘κ·Έλ¨ 66
μ 2 μ κ²°κ³Ό 68
1. μ€μκ° νλ² κ²°κ³Ό 68
2. νν μ¬μ΄ν΄ μ¬λ¦½ κ²μΆ λ° λ³΄μ κ²°κ³Ό 70
μ 5 μ₯ κ²°λ‘ 75
μ°Έκ³ λ¬Έν 77Maste
Indoor location identification technologies for real-time IoT-based applications: an inclusive survey
YesThe advent of the Internet of Things has witnessed tremendous success in the application of wireless sensor networks and ubiquitous computing for diverse smart-based applications. The developed systems operate under different technologies using different methods to achieve their targeted goals. In this treatise, we carried out an inclusive survey on key indoor technologies and techniques, with to view to explore their various benefits, limitations, and areas for improvement. The mathematical formulation for simple localization problems is also presented. In addition, an empirical evaluation of the performance of these indoor technologies is carried out using a common generic metric of scalability, accuracy, complexity, robustness, energy-efficiency, cost and reliability. An empirical evaluation of performance of different RF-based technologies establishes the viability of Wi-Fi, RFID, UWB, Wi-Fi, Bluetooth, ZigBee, and Light over other indoor technologies for reliable IoT-based applications. Furthermore, the survey advocates hybridization of technologies as an effective approach to achieve reliable IoT-based indoor systems. The findings of the survey could be useful in the selection of appropriate indoor technologies for the development of reliable real-time indoor applications. The study could also be used as a reliable source for literature referencing on the subject of indoor location identification.Supported in part by the Tertiary Education Trust Fund of the Federal Government of Nigeria, and in part by the European Unionβs Horizon 2020 Research and Innovation Programme under Grant agreement H2020-MSCA-ITN-2016 SECRET-72242