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題名 | ZigBee無線感測技術應用於自走車之定位=Localization of a Vehicle Using ZigBee Wireless Sensor Technology |
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作者 | 林鴻興; 林柏雄; Lin, Hung-hsing; Lin, Po-hsiung; |
期刊 | 修平學報 |
出版日期 | 20130300 |
卷期 | 26 2013.03[民102.03] |
頁次 | 頁185-197 |
分類號 | 448.94 |
語文 | chi |
關鍵詞 | 發射訊號強度; 最小平方法; 定位; 感測; ZigBee; Received signal strength indication; Last square method; Localization; Sensor; |
中文摘要 | 本研究使用CC2530 ZigBee 無線感測節點模組系統應用到自走車機器人的定位。CC2530 ZigBee 無線感測節點經由校正所建立的接收訊號強度數據 (Received Signal Strength Indication; RSSI) ,由此數據轉換成距離的特性曲線,用以求得從ZigBee 無線感測節點與架在自走車上節點的距離,並在已知環境中估測出自走車的即時定位姿態。此方法不但可以決定自走車相對於慣性參考座標的絕對位置及車頭角,而且能應用最小平方法技術,取得車體之動態位置及車頭方向估測值。透過電腦模擬及實驗數據可以證實所提之定位系統與最小平方法是具有效性與可行性。 |
英文摘要 | This paper uses CC2530 ZigBee wireless sensor node module system applies in the auto vehicle robot positioning. The CC2530 ZigBee wireless sensor nodes establishes the receiver signal strength data (Received Signal Strength Indication; RSSI) through the correction. These data translate into the distance characteristics curve to obtain distance from the ZigBee wireless sensing node of the auto vehicle. It is to estimate the real-time positioning posture from the auto vehicle with a known environment. This method is not only to decide the absolute position and orientation with respect to an inertial frame of reference but also to obtain the estimation of the dynamic position and direction of the auto vehicle by the least squares method. Numerous simulations and experimental results are provided to show the effectiveness and feasibility of the proposed localization system with the least square method. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。