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UWB Locator
Jančiar, Marek ; Kočí, Radek (referee) ; Janoušek, Vladimír (advisor)
The subject of this work is the implementation and evaluation of the parameters of the localization system using UWB technology. This work focuses on two localization methods, namely TWR and TDoA. To compare the capabilities of UWB with other wireless techno- logy, this work also includes an implementation using BLE technology, specifically a method that uses the RSSI value. Parameters such as the accuracy or energy consumption of the implementation of these methods on specific hardware were practically measured and in- corporated into the text of this work. With the help of this work, the reader can create an image of the capabilities of the mentioned technologies and the way of implementing the localization methods.
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Testing of UWB Sensors For Use in Multi-robot Relative Localization Systems and Design of UWB Plugin for ROS/Gazebo Simulation Environment
Raichl, P. ; Marcon, P.
This paper studies the possibility of using UWB sensors DWM1000 as a part of relative localization systems and a part of local avoidance systems in multi-robot systems, especially UAV swarms. The first part of the paper presents the behavior of UWB sensors DWM1000 in real, various conditions/environments. The second part of this paper describes ROS/Gazebo UWB plugin for relative localization. This plugin was created based on the first part of this paper and it is integrated with an open-source platform for UAVs from the Multi-robot Systems (MRS) group at the Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague. A Simple simulation of a multi-robot system with the designed, integrated plugin is shown.
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Algorithm Development for Automatic Placement of Positioning System Reference Units
Průdek, David ; Strnadel, Josef (referee) ; Šimek, Václav (advisor)
This diploma thesis describes designing and implementing the algorithm for automatic placement of the real-time localization system reference units. The algorithm is supposed to work with RTLS of the company Sewio Networks. The content of this thesis covers localization options in sensor networks and it is focused on UWB wireless technology. This thesis defines the use case of the designed feature and the principles of the most important parts for the correct outcome. Furthermore, the thesis contains implementing details and the way of integration into the Sewio RTLS. The last part presents the testing results of the created function and proposes future improvements.
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Classification of Direct and Reflected Signal Using Embedded System
Chalko, Miroslav ; Strnadel, Josef (referee) ; Šimek, Václav (advisor)
This thesis aims to design and implement an algorithm for classification of signals that are used for tracking objects using ultra-wideband technology. The classification method should be able to detect an obstruction between receiver and transmitter, which means to classify signals as those with line of sight (LOS) and non-line of sight (NLOS). This system must be quick and lightweight enough, so real-time detection can be achieved directly in the embedded system. While searching for the solution, multiple classification methods were examined. The best-performing ones involved numerous variants of decision tree classifiers. Considering the restricted computing power of embedded devices, random forest classifier was chosen as the final solution. This classification method was able to achieve accuracy of up to 89% while evaluating the dataset. When deployed in real-life environment, it was able to detect an object between transmitter and receiver. Classification and calculation of parameters takes 6000 instruction cycles and the algorithm fits into 4kB of memory. Results of this thesis enable improvement of existing solutions for detection of NLOS signals that degrade tracking performance. This will boost the accuracy of localization while tracking objects in indoor environments.
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Angle of arrival calculation methods for localization using UWB technology
Žaludek, Ivo ; Klusáček, Stanislav (referee) ; Havránek, Zdeněk (advisor)
The thesis describes UWB technology, compares available hardware platforms and describes UWB localization methods. The practical part compares the methods of calculating the angle of arrival from the phase difference of signal arrival on the two-element antenna array. The calculation is performed using the analytically obtained arc sine function and also using the look-up table and the polynomial function. The content of the look-up table and the coefficients of the polynomial function are based on the measured characteristics of the UWB receiver (anchor). The best result was obtained using the look-up table. More accurate results were obtained when the phase difference of arrival values were averaged.
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Drone localization and navigation in a familiar environment without GNSS
Pintér, Marco ; Janoušek, Jiří (referee) ; Raichl, Petr (advisor)
This thesis is aimed at development of the localization system without using GNSS. The first part describes technologies, enable determination of position in the area. Methods for determining distance between transmitter and receiver are also described. In the next part of the thesis describes ROS communication form with flight controller PixHawk. On the basis of the acquired knowledge is described choosage of preferred technology and method of determination of the distance between transmitter and receiver.
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UWB Automated Testing Tool
Charvát, Jan ; Juráň, Radovan (referee) ; Mlýnek, Petr (advisor)
This thesis deals with the process of automating the testing of wireless locators. These devices use the UWB system, which is introduced in the theoretical part of this thesis. Furthermore, the topic of the testing process and the possibilities of its automation are discussed. The practical part of this thesis is devoted to the design and construction of an automated test fixture for UWB locators, both hardware and software part.
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Antenna array for Ku band
Prouza, Jakub ; Mikulášek, Tomáš (referee) ; Raida, Zbyněk (advisor)
This diploma thesis deals with the selection of antenna elements suitable for use in an ultra-wide band antenna array for radar applications. The selection is followed by the design and measurement of a prototype. The realized gain of the whole structure, the main beam width and the possibility of electronic beamforming in the horizontal plane are the most important parameters of the designed antenna array. The numerical model of the selected antenna element was developed, and parameters were verified to exploit the element in the antenna array. Afterwards, the array was created as a numerical model. Results produced by simulations were verified by measuring the prototype subsequently.
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Localization of Objects in Wireless Sensor Network Environment
Vícha, Tomáš ; Bidlo, Michal (referee) ; Šimek, Václav (advisor)
This thesis deals with the use of spatial awareness methods within technologies designed for creation of short-range wireless sensor networks. The thesis analyzes several techniques that can be used to estimate position of objects within the sensor network. For a practical solution, a method based on measuring the time differences of the sent messages was chosen. A circuit implementation of a network node based on the DW1000 chip, which works on ultra-wideband transmission technology, was implemented. A sensor network with the appropriate user application for its operation and display of localization results was also implemented.
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Indoor Detection of People Based on Vital Sign Sensing
Plaček, Dan ; Heidari, Mona (referee) ; Drahanský, Martin (advisor)
V dnešní době chytrých domácností a velkého důrazu kladeného na ochranu dat, je žádoucí provádět detekci přítomnosti člověka a také jeho zdravotního stavu anonymně, a to za pomoci jeho vitálních funkcí. Cílem této práce je provést detekci osob na základě jejich vitálních funkcí, konkrétně tepu a dechu. Za tímto účelem je navržen algoritmický přístup a následně je implementováno řešení. Tep a dech je snímán UWB a FMCW radarem, následně jsou získaná data zpracována a zmíněné vitální funkce jsou extrahovány. V práci je také představeno experimentální měření a jeho výsledky.
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