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A hardware architecture for gps/ins-enabled wireless sensor networks.

机译：支持gps / ins的无线传感器网络的硬件体系结构。

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摘要

Wireless sensor network technology has now been widely adopted. In many applications, distributed sensor nodes collect data at different locations and the location information of each node is required. The Global Positioning System is commonly used to identify the location of the nodes in such networks. Although GPS localization has consistent long-term accuracy, it is limited by the inherent dependency on a direct line of sight to 4 or more external satellites. The increasing demand for an embedded system providing reliable navigation solutions regardless of its operational environment has motivated investigations into the use of integrated systems that combine inertial sensors with GPS receivers.;This research proposes a hardware architecture for location-based wireless sensor networks. In this architecture, each sensor node consists of a GPS receiver, a reduced set of low cost micro-electro-mechanical-system-based INS and a wireless transceiver. Sensor nodes in WSN are often equipped with irreplaceable batteries, which makes the power consumption crucial. To reduce the energy consumption, a microcontroller is used to control the power supply. Besides, a motion detection scheme is proposed by taking advantage of the ultra low-power wake-up function of the microcontroller. A low-power featured digital signal processor is used to accomplish the navigation computation using the Kalman filter for GPS/INS data fusion. Non-Holonomic Constraints derived velocity updates are applied to reduce the position errors. Field tests are conducted to verify the real-time performance of the proposed system with a positioning update rate of 20 Hz.;The first test shows that the 2D INS/GPS integration can maintain the average system position error within 5 meters during a 60-second GPS outage. The second test used low cost inertial sensors. The average position error was 10.17 meters during a 20-second outage. The largest RMS value of position errors among these outages was within 14.5 meters. Furthermore, additional accuracy improvements of approximately 1.4 meters were achieved by utilizing NHC during GPS outages. The third test shows that the average error during a 30-second outage is approximately 20.6 meters for the on-foot scenario and 26.7 meters for the in-vehicle scenario.
机译：无线传感器网络技术现已被广泛采用。在许多应用中，分布式传感器节点在不同位置收集数据，并且需要每个节点的位置信息。全球定位系统通常用于识别此类网络中节点的位置。尽管GPS定位具有一致的长期精度，但受到对4颗或更多外部卫星的直接视线的固有依赖性的限制。不论运行环境如何，对提供可靠导航解决方案的嵌入式系统的需求不断增长，促使人们开始研究结合使用惯性传感器和GPS接收器的集成系统。本研究提出了一种用于基于位置的无线传感器网络的硬件体系结构。在这种体系结构中，每个传感器节点都包括一个GPS接收器，一组简化的低成本基于微机电系统的INS和一个无线收发器。 WSN中的传感器节点通常配备不可更换的电池，因此功耗至关重要。为了减少能量消耗，使用微控制器来控制电源。此外，利用微控制器的超低功耗唤醒功能，提出了一种运动检测方案。低功率功能数字信号处理器用于通过卡尔曼滤波器完成GPS / INS数据融合的导航计算。应用非完整约束导出的速度更新可减少位置误差。进行现场测试以验证所提出系统的实时性能，定位更新率为20 Hz。第一个测试表明2D INS / GPS集成可以在60-Hz的情况下将平均系统位置误差保持在5米以内第二次GPS中断。第二项测试使用了低成本的惯性传感器。在20秒的停机时间内，平均位置误差为10.17米。在这些中断中，位置误差的最大RMS值在14.5米以内。此外，在GPS中断期间利用NHC可以实现约1.4米的额外精度改进。第三次测试显示，在步行情况下，停机30秒的平均错误约为20.6米，对于车载情况，则为26.7米。

著录项

  • 作者

    Tang, Chun.;

  • 作者单位

    Queen's University (Canada).;

  • 授予单位 Queen's University (Canada).;
  • 学科 Electrical engineering.
  • 学位 M.A.Sc.
  • 年度 2012
  • 页码 115 p.
  • 总页数 115
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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