隨著IoT的蓬勃發展，各式各樣的服務也應運而生，而越細緻的服務取決於資料的精細程度，傳統的室內定位的精準度已經滿足不了更精細的應用，所以本篇論文提出另一個室內定位的方案：超寬頻雷達。
本篇研究提出了一個分散式多輸入多輸出的雷達定位系統，整個系統包含超寬頻雷達系統、FPGA、藍芽模組以及電腦，主要內容包含如何建立硬體之間的溝通介面，軟體端的控制以及在平面上定位的的演算法。硬體溝通介面包含超寬頻雷達與FPGA的GPIO、藍芽模組與FPGA的UART和藍芽模組與電腦的藍芽，藉由時序圖以及狀態機可在FPGA上設計出溝通介面的電路。軟體控制使用Visual C++且配合硬體電路設計出簡單的指令集，讓使用者可以控制這套系統，並藉由兩組超寬頻雷達量出目標的距離並利用演算法決定出目標的位置，定位結果會以MATLAB繪圖展示。最後我們與iBeacon比較定位效能可以發現，我們在距離小於2.5公尺時定位誤差可以小於20cm，精準度遠好於iBeacon。

This paper presents and implements a distributed MIMO UWB radar positioning system to find the location of target. The system consists of UWB radar, FPGA, Bluetooth module, and computer. With the development of IoT, the conventional way of indoor positioning is not accurate enough. In contrast that, UWB radar has high resolution for distance detection. Thus, we use FPGA to establish the interface of data transmission and apply Bluetooth for wireless communication. Then, the 2-D Positioning UWB Radar Fingerprinter algorithm is proposed and it is based on scanning method. The algorithm reduces noise and find the distance between target and radars. Moreover, it locates the target position at the intersection of two circles whose radius are the distance between target and radars. We also show the result in open evironment and complex environment. Finally, we compare our system with iBeacon and the position error is less than 20 cm within 2.5 m.

1 Introduction 1
1.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 UWB Radar System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.3 Research Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.4 Thesis Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 UWB Radar System [1] 5
2.1 Digital-to-Time Converter . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Transmitter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 Proposed MIMO UWB Radar Positioning System 9
3.1 System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2 Communication Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2.1 Interface between computer and FPGA . . . . . . . . . . . . . . . 11
3.2.2 Interface between FPGA and UWB radar . . . . . . . . . . . . . 13
3.2.3 Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3 Positioning Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.3.1 Timing Index Scanning . . . . . . . . . . . . . . . . . . . . . . . . 26
3.3.2 2-D Positioning UWB Radar Fingerprinter . . . . . . . . . . . . . 28
4 Experiment Result 33
4.1 Device and Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.2 Demonstration and Result Analysis . . . . . . . . . . . . . . . . . . . . . 36
4.2.1 UWB radar measurement . . . . . . . . . . . . . . . . . . . . . . 36
4.2.2 Indoor positioning measurement . . . . . . . . . . . . . . . . . . . 41
5 Conclusion and Future work 49

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