Title page for etd-0811110-165752


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URN etd-0811110-165752
Author Yu-hsin Huang
Author's Email Address No Public.
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Department Electrical Engineering
Year 2009
Semester 2
Degree Master
Type of Document
Language zh-TW.Big5 Chinese
Title Localization and Target Tracking with Improved GDOP using Mobile Sensor Nodes
Date of Defense 2010-07-06
Page Count 78
Keyword
  • path planning
  • GDOP
  • Simulated annealing
  • extended Kalman filter
  • mobile sensor node
  • Abstract In wireless positioning system, in addition to channel error, the geometric re-
    lationship between sensor nodes and the target may also affect the positioning
    accuracy. The effect is called geometric dilution of precision (GDOP). GDOP is
    determined as ratio factor between location error and measurement error. A higher
    GDOP value indicates a larger location error in location estimation. Accordingly,
    the location performance will be poor. The GDOP can therefore be used as an in-
    dex of the positioning performance. In this thesis, approaches of tracking a moving
    target with extended Kalman filter (EKF) in a time-difference-of-arrival (TDOA)
    wireless positioning system are discussed. While the target changes its position with
    time, the geometric layout between sensor nodes and the target will become differ-
    ent. To maintain the good layout, the positioning system with mobile sensor nodes
    is considered. Therefore, the geometric layout can be possibly improved and GDOP
    effect can be reduced by the mobility of mobile sensor nodes. In order to find the
    positions that mobile sensor nodes should move to, a time-varying function based
    on the GDOP distribution is defined for finding the best solutions. Since the simu-
    lated annealing is capable of escaping local minima and finding the global minimum
    in an objective function, the simulated annealing algorithm is used in finding the
    best solutions in the defined function. Thus the best solutions can be determined
    as the destinations of mobile sensor nodes. When relocating mobile sensor nodes
    from their current positions to the destinations, they may pass through or stay in
    high GDOP regions before arriving at the destinations. To avoid the problem, we
    establish an objective function for path planning of mobile sensor nodes in order to
    minimize the overall positioning accuracy. Simulation results show that the mobile
    sensor nodes will accordingly change their positions while the target is moving. All
    the sensor nodes will maintain a surrounding region to localize the target and the
    GDOP effect can be effectively reduced.
    Advisory Committee
  • Jiann-Der Lee - chair
  • Kuan-Chih Wang - co-chair
  • Miin-Jong Hao - co-chair
  • Miin-Jong Hao - co-chair
  • Chin-Der Wann - advisor
  • Files
  • etd-0811110-165752.pdf
  • indicate accessible in a year
    Date of Submission 2010-08-11

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