BỘ GIÁO DỤC VÀ ĐÀO TẠO TRƯỜNG ĐẠI HỌC BÁCH KHOA HÀ NỘI BÙI THỊ DUYÊN NGHIÊN CỨU PHÁT TRIỂN HỆ THỐNG ĐỊNH VỊ VÔ TUYẾN TRONG NHÀ SỬ DỤNG ANTEN ĐIỀU KHIỂN BÚP SÓNG LUẬN ÁN TIẾN SĨ KỸ THUẬT ĐIỀU KHIỂN VÀ TỰ ĐỘNG HÓA Hà Nội – 2019 BỘ GIÁO DỤC VÀ ĐÀO TẠO TRƯỜNG ĐẠI HỌC BÁCH KHOA HÀ NỘI BÙI THỊ DUYÊN NGHIÊN CỨU PHÁT TRIỂN HỆ THỐNG ĐỊNH VỊ VÔ TUYẾN TRONG NHÀ SỬ DỤNG ANTEN ĐIỀU KHIỂN BÚP SÓNG Ngành: Kỹ thuật điều khiển tự động hóa Mã số: 9520216 LUẬN ÁN TIẾN SĨ KỸ THUẬT ĐIỀU KHIỂN VÀ TỰ ĐỘNG HÓA CÁN BỘ HƯỚNG DẪN KHOA HỌC: PGS.TS NGUYỄN QUỐC CƯỜNG Hà Nội – 2019 LỜI CAM ĐOAN Tôi xin cam đoan kết khoa học trình bày luận án thành nghiên cứu thân suốt thời gian nghiên cứu sinh Các kết trình bày luận án trung thực chưa tác giả khác cơng bố Các thơng tin trích dẫn luận án trung thực, rõ nguồn gốc Hà Nội, ngày 02 tháng 12 năm 2019 Người hướng dẫn khoa học Tác giả luận án PGS.TS Nguyễn Quốc Cường Bùi Thị Duyên i LỜI CẢM ƠN Đầu tiên, xin gửi lời cảm ơn sâu sắc đến PGS.TS Nguyễn Quốc Cường, TS Lê Minh Thùy dành nhiều thời gian, tâm huyết để trực tiếp hướng dẫn, định hướng, tạo động lực nghiên cứu hỗ trợ nghiên cứu sinh mặt để hồn thành luận án Tơi xin chân thành cảm ơn ban lãnh đạo đồng nghiệp thuộc Khoa Kỹ thuật điều khiển Tự động hóa, Trường Đại học Điện lực tạo điều kiện thuận lợi cho tơi q trình học tập, nghiên cứu Xin trân trọng cảm ơn Bộ môn Kỹ thuật đo Tin học công nghiệp, Viện Điện, Phòng Đào tạo, thuộc trường Đại học Bách khoa Hà Nội giúp đỡ mặt chuyên môn hỗ trợ thủ tục q trình học tập, hồn thành luận án Xin trân trọng cảm ơn Bộ môn Thông tin vô tuyến, khoa Điện tử Viễn thông, trường Đại học Công nghệ, Đại học Quốc gia Hà Nội TS Phan Hồng Phương, phòng thí nghiệm IMEP-LAHC, Đại học Grenoble, Pháp giúp đỡ đo kiểm mẫu anten mạch điện tử cho luận án Qua đây, xin gửi lời cảm ơn chân thành đến thành viên nhóm nghiên cứu thuộc phòng Lab – RF3I, Viện Điện, bạn bè đồng nghiệp quan tâm giúp đỡ, động viên thời gian vừa qua Cuối cùng, xin gửi tình cảm yêu quý đến thành viên gia đình, người ln động viên, hỗ trợ tơi mặt để tơi hồn thành luận án ii MỤC LỤC LỜI CAM ĐOAN i LỜI CẢM ƠN ii MỤC LỤC iii DANH MỤC CÁC CHỮ VIẾT TẮT vi DANH MỤC CÁC KÝ HIỆU TOÁN HỌC viii DANH MỤC CÁC HÌNH VẼ ix DANH MỤC CÁC BẢNG BIỂU xii MỞ ĐẦU 1 Tính cấp thiết đề tài Những vấn đề tồn hướng nghiên cứu luận án .3 Mục tiêu, đối tượng phạm vi nghiên cứu Ý nghĩa khoa học đề tài Những đóng góp luận án Cấu trúc nội dung luận án TỔNG QUAN VỀ HỆ THỐNG ĐỊNH VỊ VÔ TUYẾN TRONG NHÀ SỬ DỤNG ANTEN ĐIỀU KHIỂN BÚP SÓNG 10 1.1 Tổng quan hệ thống định vị vô tuyến nhà 10 Hệ thống định vị vô tuyến sử dụng anten truyền thống .10 Hệ thống định vị vô tuyến sử dụng anten điều khiển búp sóng 14 Kết luận 15 1.2 Các cấu hình định vị 17 Cấu hình tự định vị 17 Cấu hình định vị từ xa 18 1.3 Sơ đồ khối chức hệ thống định vị 18 Đối tượng 19 Khối đo tham số vị trí 19 Thuật tốn xác định vị trí đối tượng 20 Hiển thị vị trí 21 1.4 Các kỹ thuật định vị 21 Tham số vị trí 22 Phương pháp định vị 26 1.5 Anten anten điều khiển búp sóng hệ thống định vị vô tuyến 39 iii Anten anten mảng 39 Anten điều khiển búp sóng hệ thống định vị vô tuyến 41 1.6 Kết luận chương 46 HỆ THỐNG ĐỊNH VỊ VÔ TUYẾN BA TRẠM TRONG NHÀ 47 2.1 Giới thiệu chương 47 2.2 Giải pháp anten điều khiển búp sóng mảng pha dải quạt hẹp .48 Giải pháp thiết kế anten phần tử lưỡng cực mạch in 48 Thiết kế dịch pha vi dải sử dụng ma trận Butler .56 Kết anten điều khiển búp sóng mảng pha dải quạt hẹp 62 2.3 Thực nghiệm hệ thống định vị ba trạm sử dụng anten điều khiển búp sóng dải quạt hẹp 70 Cấu hình hoạt động hệ thống 70 Thử nghiệm phương pháp định vị 73 Kết luận đánh giá hệ thống 79 2.4 Kết luận chương 81 HỆ THỐNG ĐỊNH VỊ VÔ TUYẾN TRONG NHÀ ĐƠN TRẠM SỬ DỤNG ANTEN ĐIỀU KHIỂN BÚP SÓNG 83 3.1 Giới thiệu chương 83 Hệ định vị đơn trạm sử dụng AĐKBS mảng pha 83 Hệ định vị đơn trạm sử dụng AĐKBS chuyển búp 84 3.2 Giải pháp thiết kế anten điều khiển búp sóng mảng pha dải quạt rộng 85 3.3 Giải pháp thiết kế anten điều khiển búp sóng chuyển búp phân cực tròn 87 Anten phân cực tròn sử dụng kỹ thuật quay .88 Thiết kế anten điều khiển búp sóng chuyển búp phân cực tròn 95 3.4 Thực nghiệm hệ thống định vị đơn trạm tích hợp anten điều khiển búp sóng mảng pha dải quạt rộng 97 Cấu hình hoạt động hệ thống 97 Thử nghiệm phương pháp định vị 98 Kết luận đánh giá hệ thống 102 3.5 Thực nghiệm hệ thống đơn trạm tích hợp anten điều khiển búp sóng chuyển búp phân cực tròn 105 Cấu hình hệ thống 105 Phương pháp định vị dấu vân tay 109 Kết luận đánh giá hệ thống 117 iv 3.6 Kết luận chương 118 KẾT LUẬN CHUNG CỦA LUẬN ÁN 120 DANH MỤC CÁC CƠNG TRÌNH ĐÃ CƠNG BỐ CỦA LUẬN ÁN 122 TÀI LIỆU THAM KHẢO 123 v DANH MỤC CÁC CHỮ VIẾT TẮT Ký hiệu viết tắt ANN AoA AP BGI BW CSI DoA ESPRIT FNBW HPBW IPS ISM KNN LoS LS MAC ML MSoS MUSIC MVDR NICs PoA QPD RB RF RFID RP RSS RSSI Tiếng Anh Tiếng Việt Artificial Neural Networks Angle of Arrival Access Point Bilateral Greed Iteration Bandwidth Channel State Information Direction of Arrival Estimation of Signal Parameters via Rotational Invariance Technique First Null Power Beamwidth Half Power Beamwidth Indoor Positioning System Industrial, Scientific and Medical K-Nearest Neighbors Line-of-Sight Least Squares Medium Access Control Maximum Likelihood Minimizes the Sum of Square Mạng trí tuệ nhân tạo Góc tới Điểm truy cập Lặp tham lam Độ rộng băng thông Thông tin trạng thái kênh Hướng góc tới Ước lượng tham số tín hiệu dựa vào kỹ thuật bất biến quay Độ rộng không Độ rộng búp sóng nửa cơng suất Hệ thống định vị nhà Công nghiệp, khoa học y tế K hàng xóm gần Truyền thẳng Bình phương tối thiểu Điều khiển truy cập môi trường Hợp lý Tổng bình phương khoảng cách nhỏ Multiple Signal Classification Phân loại tín hiệu đa đường Minimum Variance Distortionless Đáp ứng không méo phương sai Response cực tiểu Network Interface Cards Bo mạch giao diện mạng Phase Of Arrival Pha tới Quadrature Power Divider Bộ chia đôi nguồn vuông pha Router Board Bộ định tuyến Radio Frequency Sóng vơ tuyến Radio Frequency Identification Định danh sóng điện từ Remote-Positioning Định vị từ xa Received Signal Strength Cường độ tín hiệu thu Received Signal Strength Indicator Chỉ số cường độ tín hiệu thu vi SFDMA SR SSID SVD TDoA ToA UWB VSWR Wi-Fi WKNN AĐKBS CSDL ĐT ĐVTX ĐVTXGT LC-ĐaH LC-DâX LC-ĐiH TĐV TĐVGT Space and Frequency Division multiple access Sequential Rotated Service Set Identifier Singular Value Decomposition Time Difference of Arrival Time of Arival Ultra-WideBand Voltage Standing Wave Ratio Wireless Fidelity Weighted K-nearest neighbor Đa truy cập theo không gian tần số Quay Mã định danh dịch vụ Phân tích giá trị riêng Độ lệch thời gian tới Thời gian tới Băng thông siêu rộng Tỷ số điện áp sóng đứng Truy cập mạng khơng dây K hàng xóm gần có trọng số Anten điều khiển búp sóng Cơ sở liệu Đối tượng Định vị từ xa Định vị từ xa gián tiếp Lưỡng cực mạch in đa hướng Lưỡng cực mạch in dẫn xạ Lưỡng cực mạch in định hướng Tự định vị Tự định vị gián tiếp vii DANH MỤC CÁC KÝ HIỆU TOÁN HỌC TT Ký hiệu k Hệ số sóng khơng gian tự (k = 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