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(Directional Antenna)
(Active Tag) 1 2D
1. AOA
1 http://grc.yzu.edu.tw/
2 AOA
xm x1 r1 cos 1
y = y r sin (1)
m 1 1 1
xm x2 r2 cos 2
y = y r sin (2)
m 2 2 2
( x1 , y1 )( x2 , y2 ) 1 2 (1)(2)
( xm , ym )
2. AOA
AOAAOA
(Angular Resolution)
(Multi-path)
AOA
2 http://grc.yzu.edu.tw/
3 3
i(i=1, 2, 3) ri
ri = (t i t 0 )c (3)
t0 ti
c
(r1 , r2 , r3 )
( xm , y m )
r12 = ( x1 xm ) 2 + ( y1 ym ) 2 (4)
r22 = ( x2 xm ) 2 + ( y2 ym ) 2 (5)
r32 = ( x3 xm ) 2 + ( y3 ym ) 2 (6)
3. 3
3 http://grc.yzu.edu.tw/
(6)(4)
(7)(8)
x2 y 2 xm 1 k 22 r22 + r12
= (9)
x3 y3 y m 2 k 32 r32 + r12
k i2 = xi2 + y i2 (10)
(9)
Hx=b (11)
Hx b
x2 y2 xm 1 k 2 r2 + r1
2 2 2
H=
x = b = (12)
x3 y3 ym 2 k 32 r32 + r12
x = H 1b (13)
TOA ri
TOA TOA
(3 108 m sec) TOA
1 300
4 http://grc.yzu.edu.tw/
4.
4 1 2 TAG
r21 = r2 r1
(14)
= (t2 t0 )c (t1 t0 )c = (t2 t1 )c
t 0 TOA TDOA t0
(7) TDOA r21
5 http://grc.yzu.edu.tw/
1
x2 xm y2 ym = r21r1 + ( r212 k22 ) (16)
2
(6)
r32 = ( x3 xm ) 2 + ( y3 ym ) 2 (6)
1
x3 xm y3 ym = r31r1 + ( r312 k32 ) (17)
2
Hx = r1c + d (18)
Hxc d
x2 y2 xm r21 1 k 2 r21
2 2
H= x = c = , d = 2 2 2
x3 y3 ym r31 k3 r31
x = r1H 1c + H 1d (19)
4.
TOA
Pr Gt Gr 2
= (20)
Pt (4d )2
6 http://grc.yzu.edu.tw/
Pt (dB) Pr (dB) Gt G r
d
(Received Signal
Strength Indicator, RSSI)
Pr
RSSI = 10 log( ) (21)
Pref
Pref 1mW
RSSI
7
(Link Quality Index, LQI)
IEEE802.15.4LQI
8
7 8 LQI RSSI
LQI
7. RSSI [1]
7 http://grc.yzu.edu.tw/
8. LQI [1]
[1] Blumenthal, J., Grossmann, R., Golatowski, F.; Timmermann, D., Weighted
centroid localization in Zigbee-based sensor networks, 2007 IEEE International
Symposium on Intelligent Signal Processing, WISP.
8 http://grc.yzu.edu.tw/