| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 101 === This research studies navigation and positioning by using Nanopan RF module developed by a German company Nanotron. The accuracy of RF modules easily affected by barriers so the research chooses a spacious environment for clear Line of Sight (LOS)to testing the performance of Nanopan system in positioning experiments.
This research makes use of the recursive least squares method (Recursive Least Squares, RLS) to solve nonlinear measurement equations, and then adds state equations (including P-Model and PV-Model as well as PDR (Pedestrian Dead Reckoning))with the extended Kalman filter (EKF, Extended Kalman Filter) to estimate location. Finally, using SLAM (Simultaneous Localization and Mapping) concept the positioning capability is extended to environments with unknown anchor position. Both 2D and 3D positioning results are presented and the effects that affect RF positioning performance are discussed.
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