Implementación de un sistema de posicionamiento en interiores para robots móviles

Este proyecto tiene como finalidad seleccionar una tecnología adecuada para la implementación de un sistema de posicionamiento en interiores. Para esto, se realizó una revisión del estado del arte, donde se destacaron las tecnologías Wi-Fi, Bluetooth de baja energía y ultrasonido. Luego, se hicieron...

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Autores:
Forero Gallego, Stefhannya Maria Josse
Torres Laguado, Juan Sebastian
Tipo de recurso:
Trabajo de grado de pregrado
Fecha de publicación:
2021
Institución:
Universidad Santo Tomás
Repositorio:
Repositorio Institucional USTA
Idioma:
spa
OAI Identifier:
oai:repository.usta.edu.co:11634/33179
Acceso en línea:
http://hdl.handle.net/11634/33179
Palabra clave:
Coplanar
Fading
Diffraction
Measurement error
Accuracy
Line of sight
Precision
Multipath propagation
Reflection
Refraction
Veracity
Indoor positioning systems
Radio waves
Wireless personal area networks (WPAN) -- Bluetooth
Sistemas de posicionamiento en interiores
Tecnología Wi-Fi
Redes inalámbricas de área personal (WPAN) -- Bluetooth
Ondas de radio
Coplanar
Desvanecimiento
Difracción
Error de medida
Exactitud
Línea de visión
Precisión
Propagación multitrayecto
Reflexión
Refracción
Veracidad
Rights
openAccess
License
Atribución-NoComercial-SinDerivadas 2.5 Colombia
id SANTTOMAS2_20e3fd0361fbbf7d66d09dd7229400a4
oai_identifier_str oai:repository.usta.edu.co:11634/33179
network_acronym_str SANTTOMAS2
network_name_str Repositorio Institucional USTA
repository_id_str
dc.title.spa.fl_str_mv Implementación de un sistema de posicionamiento en interiores para robots móviles
title Implementación de un sistema de posicionamiento en interiores para robots móviles
spellingShingle Implementación de un sistema de posicionamiento en interiores para robots móviles
Coplanar
Fading
Diffraction
Measurement error
Accuracy
Line of sight
Precision
Multipath propagation
Reflection
Refraction
Veracity
Indoor positioning systems
Radio waves
Wireless personal area networks (WPAN) -- Bluetooth
Sistemas de posicionamiento en interiores
Tecnología Wi-Fi
Redes inalámbricas de área personal (WPAN) -- Bluetooth
Ondas de radio
Coplanar
Desvanecimiento
Difracción
Error de medida
Exactitud
Línea de visión
Precisión
Propagación multitrayecto
Reflexión
Refracción
Veracidad
title_short Implementación de un sistema de posicionamiento en interiores para robots móviles
title_full Implementación de un sistema de posicionamiento en interiores para robots móviles
title_fullStr Implementación de un sistema de posicionamiento en interiores para robots móviles
title_full_unstemmed Implementación de un sistema de posicionamiento en interiores para robots móviles
title_sort Implementación de un sistema de posicionamiento en interiores para robots móviles
dc.creator.fl_str_mv Forero Gallego, Stefhannya Maria Josse
Torres Laguado, Juan Sebastian
dc.contributor.advisor.spa.fl_str_mv Camacho Poveda, Edgar Camilo
Gelvez Lizarazo, Oscar Mauricio
dc.contributor.author.spa.fl_str_mv Forero Gallego, Stefhannya Maria Josse
Torres Laguado, Juan Sebastian
dc.contributor.orcid.spa.fl_str_mv https://orcid.org/0000-0002-6084-2512
https://orcid.org/0000-0001-6858-5293
dc.contributor.googlescholar.spa.fl_str_mv https://scholar.google.es/citations?user=tJG988kAAAAJ&hl=es
https://scholar.google.es/citations?user=NWM0F0AAAAAJ&hl=es
dc.contributor.cvlac.spa.fl_str_mv https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001630084
http://scienti.colciencias.gov.co:8081/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001342623
dc.contributor.corporatename.spa.fl_str_mv Universidad Santo Tomas
Universidad Santo Tomás
dc.subject.keyword.spa.fl_str_mv Coplanar
Fading
Diffraction
Measurement error
Accuracy
Line of sight
Precision
Multipath propagation
Reflection
Refraction
Veracity
Indoor positioning systems
Radio waves
Wireless personal area networks (WPAN) -- Bluetooth
topic Coplanar
Fading
Diffraction
Measurement error
Accuracy
Line of sight
Precision
Multipath propagation
Reflection
Refraction
Veracity
Indoor positioning systems
Radio waves
Wireless personal area networks (WPAN) -- Bluetooth
Sistemas de posicionamiento en interiores
Tecnología Wi-Fi
Redes inalámbricas de área personal (WPAN) -- Bluetooth
Ondas de radio
Coplanar
Desvanecimiento
Difracción
Error de medida
Exactitud
Línea de visión
Precisión
Propagación multitrayecto
Reflexión
Refracción
Veracidad
dc.subject.lemb.spa.fl_str_mv Sistemas de posicionamiento en interiores
Tecnología Wi-Fi
Redes inalámbricas de área personal (WPAN) -- Bluetooth
Ondas de radio
dc.subject.proposal.spa.fl_str_mv Coplanar
Desvanecimiento
Difracción
Error de medida
Exactitud
Línea de visión
Precisión
Propagación multitrayecto
Reflexión
Refracción
Veracidad
description Este proyecto tiene como finalidad seleccionar una tecnología adecuada para la implementación de un sistema de posicionamiento en interiores. Para esto, se realizó una revisión del estado del arte, donde se destacaron las tecnologías Wi-Fi, Bluetooth de baja energía y ultrasonido. Luego, se hicieron investigaciones más detalladas de dichos trabajos, para deducir cuál sería las más apropiada, teniendo en cuenta pruebas y resultados finales. De esta manera, se seleccionó el ultrasonido principalmente por lograr errores en el orden de centímetros y además, por su facilidad en la captura y procesamiento de la señal. Adicionalmente, se eligieron las ondas de radio para que sean tomadas como referencia, para la estimación de la distancia relativa entre nodos. Para el hardware del sistema, se implementaron seis nodos, un nodo emisor para que envíe una señal de ultrasonido y una de radiofrecuencia, cuatro nodos receptores para que reciban ambas señales, calculen la diferencia de tiempo entre estas dos, después estimen su respectiva distancia y la envíen a un nodo final. Este nodo final, se compone de un computador y el módulo Xbee coordinador, este nodo recibe las cuatro distancias correspondientes y posteriormente estima la posición final del nodo móvil en tercera dimensión. Para obtener la posición relativa respecto al sistema fue necesario utilizar la técnica de posicionamiento por linealización con trilateración esférica. Se debe mencionar, que en este caso se presentaron singularidades en los nodos del sistema, por ser nodos que se encuentran en el mismo plano. Estas singularidades fueron resueltas al aplicar la descomposición de valor singular en el sistema de ecuaciones.
publishDate 2021
dc.date.accessioned.spa.fl_str_mv 2021-03-25T14:36:17Z
dc.date.available.spa.fl_str_mv 2021-03-25T14:36:17Z
dc.date.issued.spa.fl_str_mv 2021-03-24
dc.type.local.spa.fl_str_mv Trabajo de grado
dc.type.version.none.fl_str_mv info:eu-repo/semantics/acceptedVersion
dc.type.category.spa.fl_str_mv Formación de Recurso Humano para la Ctel: Trabajo de grado de Pregrado
dc.type.coar.none.fl_str_mv http://purl.org/coar/resource_type/c_7a1f
dc.type.drive.none.fl_str_mv info:eu-repo/semantics/bachelorThesis
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status_str acceptedVersion
dc.identifier.citation.spa.fl_str_mv Forero Gallego, S. M. J. & Torres Laguado, J. S. (2021). Implementación de un sistema de posicionamiento en interiores para robots móviles. [Trabajo de pregrado, Universidad Santo Tomás]. Repositorio Institucional.
dc.identifier.uri.none.fl_str_mv http://hdl.handle.net/11634/33179
dc.identifier.reponame.spa.fl_str_mv reponame:Repositorio Institucional Universidad Santo Tomás
dc.identifier.instname.spa.fl_str_mv instname:Universidad Santo Tomás
dc.identifier.repourl.spa.fl_str_mv repourl:https://repository.usta.edu.co
identifier_str_mv Forero Gallego, S. M. J. & Torres Laguado, J. S. (2021). Implementación de un sistema de posicionamiento en interiores para robots móviles. [Trabajo de pregrado, Universidad Santo Tomás]. Repositorio Institucional.
reponame:Repositorio Institucional Universidad Santo Tomás
instname:Universidad Santo Tomás
repourl:https://repository.usta.edu.co
url http://hdl.handle.net/11634/33179
dc.language.iso.spa.fl_str_mv spa
language spa
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spelling Camacho Poveda, Edgar CamiloGelvez Lizarazo, Oscar MauricioForero Gallego, Stefhannya Maria JosseTorres Laguado, Juan Sebastianhttps://orcid.org/0000-0002-6084-2512https://orcid.org/0000-0001-6858-5293https://scholar.google.es/citations?user=tJG988kAAAAJ&hl=eshttps://scholar.google.es/citations?user=NWM0F0AAAAAJ&hl=eshttps://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001630084http://scienti.colciencias.gov.co:8081/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001342623Universidad Santo TomasUniversidad Santo Tomás2021-03-25T14:36:17Z2021-03-25T14:36:17Z2021-03-24Forero Gallego, S. M. J. & Torres Laguado, J. S. (2021). Implementación de un sistema de posicionamiento en interiores para robots móviles. [Trabajo de pregrado, Universidad Santo Tomás]. Repositorio Institucional.http://hdl.handle.net/11634/33179reponame:Repositorio Institucional Universidad Santo Tomásinstname:Universidad Santo Tomásrepourl:https://repository.usta.edu.coEste proyecto tiene como finalidad seleccionar una tecnología adecuada para la implementación de un sistema de posicionamiento en interiores. Para esto, se realizó una revisión del estado del arte, donde se destacaron las tecnologías Wi-Fi, Bluetooth de baja energía y ultrasonido. Luego, se hicieron investigaciones más detalladas de dichos trabajos, para deducir cuál sería las más apropiada, teniendo en cuenta pruebas y resultados finales. De esta manera, se seleccionó el ultrasonido principalmente por lograr errores en el orden de centímetros y además, por su facilidad en la captura y procesamiento de la señal. Adicionalmente, se eligieron las ondas de radio para que sean tomadas como referencia, para la estimación de la distancia relativa entre nodos. Para el hardware del sistema, se implementaron seis nodos, un nodo emisor para que envíe una señal de ultrasonido y una de radiofrecuencia, cuatro nodos receptores para que reciban ambas señales, calculen la diferencia de tiempo entre estas dos, después estimen su respectiva distancia y la envíen a un nodo final. Este nodo final, se compone de un computador y el módulo Xbee coordinador, este nodo recibe las cuatro distancias correspondientes y posteriormente estima la posición final del nodo móvil en tercera dimensión. Para obtener la posición relativa respecto al sistema fue necesario utilizar la técnica de posicionamiento por linealización con trilateración esférica. Se debe mencionar, que en este caso se presentaron singularidades en los nodos del sistema, por ser nodos que se encuentran en el mismo plano. Estas singularidades fueron resueltas al aplicar la descomposición de valor singular en el sistema de ecuaciones.The purpose of this project is to select a suitable technology for the implementation of an indoor positioning system. For this, a review of the state of the art was carried out, where Wi-Fi, Bluetooth low energy and ultrasound technologies were highlighted. Later, more detailed investigations of these works were made, to deduce which would be the most appropriate, taking into account tests and final results. In this way, ultrasound was selected mainly for achieving errors in the order of centimeters and also for its ease in capturing and processing the signal. Additionally, radio waves were chosen to be taken as a reference, for estimating the relative distance between nodes. For the hardware of the system, six nodes were implemented, a transmitter node to send an ultrasound signal and a radio frequency signal, four receiver nodes to receive both signals, calculate the time difference between these two, then estimate their respective distance and send it to an end node. This final node is made up of a computer and the coordinating Xbee module. This node receives the four corresponding distances and subsequently estimates the final position of the mobile node in third dimension. To obtain the relative position with respect to the system, it was necessary to use the linearization positioning technique with spherical trilateration. It should be mentioned that in this case there were singularities in the nodes of the system, because they are nodes that are in the same plane. These singularities were solved by applying the singular value decomposition in the system of equations.Ingeniero Electronicohttp://unidadinvestigacion.usta.edu.coPregradoapplication/pdfspaUniversidad Santo TomásPregrado Ingeniería ElectrónicaFacultad de Ingeniería ElectrónicaAtribución-NoComercial-SinDerivadas 2.5 Colombiahttp://creativecommons.org/licenses/by-nc-nd/2.5/co/Abierto (Texto Completo)info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Implementación de un sistema de posicionamiento en interiores para robots móvilesCoplanarFadingDiffractionMeasurement errorAccuracyLine of sightPrecisionMultipath propagationReflectionRefractionVeracityIndoor positioning systemsRadio wavesWireless personal area networks (WPAN) -- BluetoothSistemas de posicionamiento en interioresTecnología Wi-FiRedes inalámbricas de área personal (WPAN) -- BluetoothOndas de radioCoplanarDesvanecimientoDifracciónError de medidaExactitudLínea de visiónPrecisiónPropagación multitrayectoReflexiónRefracciónVeracidadTrabajo de gradoinfo:eu-repo/semantics/acceptedVersionFormación de Recurso Humano para la Ctel: Trabajo de grado de Pregradohttp://purl.org/coar/resource_type/c_7a1finfo:eu-repo/semantics/bachelorThesisCRAI-USTA BogotáJ. 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ProQuest Ebook Central, http://ebookcentral.proquest.com/lib/bibliotecausta-ebooks/detail.action?docID=1137524.H. X. Jian and W. Hao, WIFI Indoor Location Optimization Method Based on Position Fingerprint Algorithm, 2017 International Conference on Smart Grid and Electrical Automation (ICSGEA), Changsha, 2017, pp. 585-588, doi: 10.1109/ICSGEA.2017.123.F. Davila, L. Barros, J. Reynolds, A. Lewis and I. Mogollón, El ultrasonido: desde el murciélago hasta la cardiología no invasivaUltrasound: from bats to non-invasive cardiology, sciencedirect, 2016, doi: 10.1016/j.rccar.2016.05.010ultrasonido Diccionario de la lengua española, Diccionario de la lengua española - Edición del Tricentenario. [Online]. Available: https://dle.rae.es/ultrasonido?m=30_2.Resonancia en columnas de aire, Universidad Católica del Norte. [Online]. Available: http://www.fisica.ucn.cl/wp-content/uploads/2017/09/GL6-RESONANCIA-EN-COLUMNAS-DE-AIRE.pdf.A. Vargas, L. Amescua-Guerra, M. Bernal and C. 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XBee.cl - Comunicación Inalámbrica para Tus Proyectos, DIGI. [Online]. Available: https://xbee.cl/que-es-xbee/.DIGI XBee, mouser. [Online]. Available: https://www.mouser.es/new/digi-international/digi-xbee-s2c-rf-modules/C. Rimoldi and L. Mundo, ENSAYO NO DESTRUCTIVO POR MÉTODO DE ULTRASONIDO. [Online]. Available: http://www.aero.ing.unlp.edu.ar/catedras/archivos/Apunte%20Ultrasonido%202012.pdfORIGINAL2021stefhannyaforero.pdf2021stefhannyaforero.pdfapplication/pdf29134821https://repository.usta.edu.co/bitstream/11634/33179/1/2021stefhannyaforero.pdf9212b461fdfb0a3a0ccdabaa71cd6368MD51open accessCartaAutorizacion2021ForeroStefhannyaTorresJuan .pdfCartaAutorizacion2021ForeroStefhannyaTorresJuan .pdfCarta autorizaciónapplication/pdf323560https://repository.usta.edu.co/bitstream/11634/33179/2/CartaAutorizacion2021ForeroStefhannyaTorresJuan%20.pdf199475191d68a94c70736f12323c0f61MD52metadata only accessCarta_aprobacion_Biblioteca. 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