由於智慧型手機被廣泛的使用，使得在室內的定位服務近幾年受到重視且室內定位準確度日漸重要性。目前最被廣為使用的GPS則在室內環境中不適用，而其他室內的定位技術大多數都有著高誤差或是需要附加一些額外且特殊的硬體設備的缺點。故本論文提出依據環境當前的變動來彈性調整環境衰減因子並運用訊號距離補償機制的演算法以降低訊號不穩定所造成的定位準確率下降。所提方法主要由三個階段組成：首先利用事前的訊號與距離的估算選擇適當的環境衰減因子，其次為根據距離估算結果依狀況進行適當的補償機制，最後則將修正後的距離估算結果以三角定位法來進行定位。實驗結果顯示所提出的方法的平均定位誤差小於0.5公尺，遠優於一些現有的室內定位方法並呈現系統準確性與實用性。對研究結果探討後發現環境衰減因子(n)對於室內定位準確的影響相當重要，不同的環境中給予適合的環境衰減因子，能有效的提升定位準確度。

Due to smart phones are widely used in indoor positioning services, making the indoor positioning accuracy increasingly important. The most commonly used GPS is not available in the indoor environment, while most other indoor positioning techniques have the disadvantage of high errors or attaching some extra and special hard equipment. This thesis proposes an algorithm to change the environmental attenuation factor and compensation mechanism according to the current situation of the environment, and reduce the signal anomaly caused by the decrease of positioning accuracy. The method consists of three stages: First, calculate the current environmental attenuation factor by distance and signal. Secondly, compensate the lack of signal distance according to the compensation mechanism. Finally, the triangulation method and the corrected distance estimation are used to positioned result. The experimental results show that the average positioning error of the proposed method is less than 0.5 meter, which is better than some existing indoor positioning methods, and system provides accuracy and practicality. The research results show that the environmental attenuation factor (n) is very important to the accuracy of indoor positioning, and the suitable environment attenuation factor is render in different environments, which can effectively improve the accuracy of positioning.

摘要 I
Abstract II
誌謝 III
目錄 IV
表目錄 VII
圖目錄 VIII
第一章、緒論 1
1.1 前言 1
1.2 研究動機與目的 2
1.3 論文章節介紹 3
第二章、文獻探討 4
2.1 定位方法 4
2.1.1 到達時間定位法(Time of Arrival, TOA) 4
2.1.2 到達時間差定位法(Time Difference of Arrival, TDOA) 5
2.1.3 接收訊號強度定位法(RSSI) 7
2.1.4 接收訊號角度定位法(Angle of Arrival, AOA) 8
2.1.5 定位方法比較 9
2.2 感測技術 10
2.2.1 射頻識別(Radio Frequency IDentification, RFID) 10
2.2.2 藍牙(Bluetooth) 11
2.2.3 Wi-Fi(Wireless Fidelity) 12
2.2.4 ZigBee 13
2.2.5 感測技術比較 14
2.3 藍牙(Bluetooth) 15
2.3.1 藍牙簡介 15
2.3.2 低功耗藍牙(Bluetooth Low Energy, BLE) 17
2.3.3 iBeacon技術 18
2.4 濾波(Filtering) 19
2.4.1 平均值濾波(Mean Filter) 19
2.4.2 中間值濾波(Median Filter) 20
2.5 標準差(Standard Deviation, SD) 21
第三章、室內定位系統架構 23
3.1 實驗設備 23
3.2 實驗環境 26
3.3 定位系統架構 29
3.4 定位系統流程圖 30
第四章、研究方法 32
4.1 適應性環境衰減因子(n)參數選擇 32
4.2 訊號距離補償機制 36
4.3 三角定位演算法 44
第五章、實驗結果與比較 45
第六章、結論 50
參考文獻 52




表目錄
表 1 定位方法比較表 9
表 2 定位技術比較表 15
表 3 藍牙規格比較表 16
表 4傳統藍牙與低功耗藍牙比較表 17
表 5 行動裝置規格表 24
表 6 Estimote Beacon產品規格 25
表 7實驗室不同定位方法與實際之座標 46
表 8圖書館不同定位方法與實際之座標 47




圖目錄
圖 1到達時間定位法示意圖 5
圖 2到達時間差定位法示意圖 6
圖 3接收訊號強度定位法示意圖 7
圖 4到達訊號角度定位法示意圖 8
圖 5 RFID標籤 11
圖 6藍牙裝置連接示意圖 12
圖 7 Wi-Fi訊號示意圖 13
圖 8 ZigBee無線通訊標準示意圖 14
圖 9 iBeacon運作模式示意圖 19
圖 10 平均濾波結果圖 20
圖 11 HTC Desire 816 23
圖 12 Beacon與智慧行動裝置連接示意圖 25
圖 13 Beacon節點示意圖 26
圖 14 實驗室平面模擬圖 27
圖 15實驗室實際場景照片 27
圖 16朝陽科技大學圖書館5F的多媒體資料區模擬圖 28
圖 17朝陽科技大學圖書館實際場景照片 28
圖 18系統架構圖 29
圖 19定位系統流程圖 31
圖 20訊號強度、距離與環境衰減因子n關係圖 34
圖 21距離訊號校正示意圖 35
圖 22訊號距離補償示意圖 37
圖 23接收三個訊號只有任兩的圓有相交示意圖 38
圖 24接收三個訊號各別與不同圓相交示意圖 39
圖 25接收三個訊號都沒有交集示意圖 40
圖 26接收三個訊號都交集負補償示意圖 41
圖 27 訊號距離補償步驟示意圖 43
圖 28實驗室不同定位方法的定位誤差比較圖 47
圖 29圖書館不同定位方法的定位誤差比較圖 48
圖 30 實驗室與圖書館定位誤差比較圖 49

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