臺灣博碩士論文加值系統

無線感測網路(Wireless Sensor Network)是由大量的感測節點(Sensor node)所組成的網路系統，節點之間透過無線通訊的方式溝通，使感測節點可以高自由度的任意擺放，還可以透過無人機佈署在難以到達的地區，諸如火山口、湖泊、懸崖峭壁、酷寒地帶等，佈署的感測節點有廣泛的應用，諸如導航、環境觀察、動物追蹤、軍事監測、建築監測和救災等，在以上的應用當中，若是沒有位置資訊，所做的監控行為就失去意義，因此無線感測網路的定位技術成為重要的議題。現有的方法大多只使用少量偵測到目標的感測節點透過距離進行定位，取得距離的方法有將訊號強度轉換成距離，或透過訊號傳遞時間轉換距離，但訊號容易被環境給影響，與障礙物的反射、折射造成訊號傳遞延遲與訊號強度的誤差。因此本文提出一個覆蓋區域消除定位系統(Cover-Area Eliminate Positioning System, CEPS)，CEPS不使用距離估算做定位，感測節點以通訊距離為半徑計算覆蓋面積，將收到目標訊號的感測節點覆蓋面積取交集，其區域即為目標區域，為了節省運算時間但又不想損失定位精準度，本文使用Convex Hull降低計算覆蓋區域的節點數。另外為了更精準的找出目標物的位置，本文也提出一個機制透過使用無法收到目標訊號的感測節點縮減原本CEPS找到的目標區域，進一步提高定位精準度。另外，本文也將提出的方法應用在目標移動方向判斷，透過移動前/後所有收到目標訊號之感測節點所計算出來的質心位置，搭配移動後/前才能收到目標訊號所成的節點集合估算可能的移動方向。模擬結果顯示，當節點密度越高，CEPS的定位精準度越高，定位面積大小縮減為DV-HOP的97%，比AoA縮減95%，比RSSI縮減87%。在目標物移動方向判斷上，有96%的推測方向與目標實際移動之方向維持在30o以內的誤差。

Wireless Sensor Network consists of a large number of sensor nodes. Sensor nodes can be deployed on the hard-to-reach areas by using the UAV (Unmanned Aerial Vehicle). The deployed sensor nodes have a wide range of applications, such as navigation, environmental observation, animal tracking, military monitoring, building monitoring and disaster relief. The positioning technology in wireless sensor networks has become an important issue. Most existing methods only use a small number of sensor nodes to detect the target’s location via the distance. By converting the signal strength into the length of distance, or transferring to the time duration. However, the signal strength is easily affected by the environmental factors. The signal transmission delay and the signal strength may be influenced by the radio reflection and refraction when the signal passes through the obstacle. Therefore, this paper proposes a range-free multi-sensor nodes positioning method, named Cover-Area Eliminate Positioning System. Sensor nodes use communication radius to calculate coverage area. The location of the target is included within the coverage area of those sensor nodes which can receive the signal of target. To reduce the computing complexity and retain the positioning accuracy, the Convex Hull is used to reduce the redundant sensor nodes. Those sensor nodes that cannot receive the signal of target can improve the positioning accuracy further. The proposed method is also applied to forecasting the moving direction of the target. Simulation results show that the higher the density of the sensor nodes, the lower positioning error of CEPS will be. The positioning area of CEPS is smaller than DV-HOP about 97%, and is about 95% and 87% compared with AoA and RSSI, respectively. The forecasting moving direction is about 96% similar to the real direction of target that the error rate is within 30o.

摘要 ......i
Abstract ......ii
誌謝 ......iii
目錄 ......iv
表目錄 ......viii
圖目錄 ......ix
符號說明 ......xii
第一章 簡介 ......1
1.1 研究背景 ......1
1.2 研究動機 ......1
1.3 研究方法 ......2
1.4 論文架構 ......2
第二章 相關研究與文獻探討 ......3
2.1 定位方法 ......3
2.2 Range-Based定位技術 ......3
2.2.1. 到達角度定位技術(AoA) ......3
2.2.2. 三邊定位技術(Trilateral) ......4
2.2.3. 基於接收訊號強度指示定位技術(RSSI) ......5
2.2.4. 到達時間定位技術(ToA) ......6
2.2.5. 到達時間差定位技術(TDoA) ......7
2.3 Range-Free定位技術 ......7
2.3.1. 充電時間定位技術(ToC) ......7
2.3.2. 三角形定位技術(PiT) ......9
2.3.3. 近似三角形定位技術(APiT) ......9
2.3.4. DV-HOP定位技術 ......10
2.3.5. 質心定位技術(Centroid) ......12
2.3.6. 迭代定位技術(Iterative) ......12
第三章 研究方法 ......14
3.1 場景假設 ......14
3.1.1. Convex Hull ......14
3.2 覆蓋區域消去法(Cover-Area Eliminate Positioning System,CEPS) ......15
3.2.1. 定位方法講解 ......15
3.2.2. CEPS定位演算法 ......16
3.3 改良覆蓋區域消去法(Improved Cover-Area Eliminate Positioning System,I-CEPS) ......17
3.3.1. 定位方法講解 ......17
3.3.2. I-CEPS定位演算法 ......19
3.4 增強覆蓋區域消去法(Enhanced Cover-Area Eliminate Positioning System,E-CEPS) ......20
3.4.1. 定位方法講解 ......20
3.4.2. E-CEPS定位演算法 ......21
3.5 實際場景無線訊號 ......21
3.5.1. 錯誤例外狀況 ......22
3.5.2. 不規則通訊解決方法 ......23
3.5.3. 考慮不規則訊號E-CEPS定位演算法 ......26
3.6 定位方法流程圖與演算法 ......26
3.6.1. 定位方法流程圖 ......27
3.6.2. 定位演算法 ......28
3.7 優劣比較 ......29
3.7.1. 比較運算時間 ......29
3.7.2. 比較精準度 ......30
3.8 目標移動方向判斷 ......33
3.8.1. 判斷移動方向講解 ......33
第四章 模擬與實驗 ......36
4.1 模擬環境假設 ......36
4.1.1. 硬體條件 ......36
4.2 環境參數 ......36
4.3 定位方法模擬結果 ......38
4.3.1. 感測節點數量的影響 ......38
4.3.2. 感測節點通訊半徑的影響 ......41
4.3.3. 比較運算時間 ......43
4.4 不規則訊號模擬結果 ......44
4.4.1. 錯誤定位發生機率 ......44
4.4.2. 改良後定位面積大小比較 ......49
4.5 移動方向判斷模擬結果 ......51
第五章 結論與未來展望 ......52
參考文獻 ......53
Extended Abstract ......57

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