Design and Construction of an Indoor Positioning System Based on the DWM1000 Ultra-Wideband (UWB) Module = Perancangan dan pembuatan sistem pelacak posisi berbasis modul ultra-wideband (uWB) DWM1000

Hadipranoto, Alvaro A. (2020) Design and Construction of an Indoor Positioning System Based on the DWM1000 Ultra-Wideband (UWB) Module = Perancangan dan pembuatan sistem pelacak posisi berbasis modul ultra-wideband (uWB) DWM1000. Bachelor thesis, Universitas Pelita Harapan.

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Abstract

This research aims to design an indoor positioning system based on Arduino microcontrollers using the DWM1000 Ultra-Wideband module. For this research, a positioning system is designed with one tag carried by the target and two anchors to allow position sensing. The system consists of 1 Arduino microcontroller tag connected to 2 other Arduino anchors by an Ultra-Wide Band (UWB) connection provided by three DWM1000 transceiver modules. Each Arduino Uno is connected to a DWM1000 module using a Serial Peripheral Interface (SPI) connection. Carrier modules were designed, and the modules were tested using a connectivity test provided by DECAWAVE, which is the DWM1000 module manufacturer. The distance between the two modules is calculated by measuring the response time from the anchor to the tag and back. Afterwards, an Arduino Mega calculates the position of the tag and uses that information to calculate the desired output using fuzzy logic. The system outputs were designed so that they can be easily implemented into various robots and machines, essentially giving the system versatility. From measurement results, the system allows the positioning of the target with an average accuracy of 96.45%. The maximum distance between the tag and anchors depends on the hindrance between the two modules; within a 2.5 m wide indoor corridor, the maximum distance is 14.55 m. / Penelitian ini bertujuan untuk merancang sistem pemosisian dalam ruangan berbasis mikrokontroler Arduino menggunakan modul DWM1000 Ultra-Wideband. Untuk penelitian ini, sistem penentuan posisi dirancang dengan satu tag yang dibawa oleh target dan dua jangkar untuk memungkinkan perhitungan posisi. Sistem ini terdiri dari 1 tag mikrokontroler Arduino yang terhubung ke 2 jangkar Arduino lainnya oleh koneksi Ultra-Wideband (UWB) yang disediakan oleh tiga modul transceiver DWM1000. Setiap Arduino Uno terhubung ke modul DWM1000 menggunakan koneksi Serial Peripheral Interface (SPI). Modul pembawa dirancang, dan modul diuji menggunakan uji konektivitas yang disediakan oleh DECAWAVE, yang merupakan produsen modul DWM1000. Jarak antara kedua modul dihitung dengan mengukur waktu respons dari jangkar ke tag dan kembali. Setelah itu, Arduino Mega menghitung posisi tag dan menggunakan informasi itu untuk menghitung output yang diinginkan menggunakan logika fuzzy. Keluaran sistem dirancang sedemikian rupa sehingga mudah diimplementasikan ke dalam berbagai robot dan mesin, yang pada dasarnya memberikan fleksibilitas sistem. Dari hasil pengukuran, sistem memungkinkan pemosisian target dengan akurasi rata-rata 96,45%. Jarak maksimum antara tag dan jangkar tergantung pada rintangan antara dua modul; dalam koridor dalam ruangan selebar 2,5 m, jarak maksimum adalah 14,55 m.

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