隨著交通工具和智慧型機器人的日漸普及，定位、導航技術日漸重要，常見的定位技術使用發射器的訊號強弱、人造衛星回傳資訊以得知載具位置，不只訊號容易受到地形和周圍環境干擾，精確度和定位範圍，都隨發射器佈建數量和範圍而改變， 為了降低環境建置成本並提高精確度，不需要外界訊號，利用自身慣性力即可達到定位和導航的目標。
本研究即在探討使用單一加速規感測器開發定位系統的誤差率和可靠度。首先利用靜止六個狀態和傾斜實驗校正加速規的偏移電壓和靈敏度，並做可靠度分析得到所用加速規在靜止的狀態下，約有±0.02g之量測誤差;並提出結合α-β-γ濾波器的定位演算法，利用系統本身量測到的加速度值做狀態特徵值辨識出靜止和移動的狀態，利用直接積分和實際系統狀態預測程序得到輸入α-β-γ濾波器的參數，使得其系統在4.07公尺的環境直接積分誤差率從約88%降至約23%，最後設計人機介面結合取值和演算法運算達到即時定位的位置顯示以及環境雜訊的更正。

This thesis implements a positioning system by using a single accelerometer sensor and examines the error and reliability of the system. The offset voltage and the sensitivity of the accelerometer sensor are calibrated by using six static states and tilted angles. While doing the reliability analysis of the accelerometer sensor in the stationary state, the measurement error is about ±0.02g. A positioning algorithm which combining the α-β-γ filter is explored. The positioning algorithm uses the acceleration values which are generated by the system to obtain the eigenvalues to identify whether the state of the system is static or in motion. By integrating the acceleration data, the predicted velocity and the position of the system state are obtained and given to the α-β-γ filter as parameters. After passing through the α-β-γ filter, the error is reduced from 88% to 23% compare with the direct integral. A graphical user interface is designed to acquire the acceleration and perform the positioning algorithm by showing the position of the target in real time and eliminating the environment noise.

[1] 安守中，進階GPS定位原理及應用，崑崙出版社，民國九十六年
[2] 陳雅絹，"應用RFID技術之機器人定位方法"，國立成功大學工程科學系碩士論文，民國九十九年
[3] H. Liu, D. Houshang, P. Banerjee and J. Liu, "Suvey of wireless indoor positioning techniques and system," IEEE transactions on systems, man, and cybernetics- Part C: Applications and Reviews, vol. 37, no. 6, pp. 1067-1080, Nov. 2007.
[4] 黃國興，慣性導航系統原理與應用，全華科技圖書公司，民國八十年
[5] N. InstrumentsNI Developer Zone加速規原理http://zone.ni.com/devzone/cda/tut/p/id/6242#toc1, 2012.
[6] 速度與加速度感測器實驗設備http://www.me.lhu.edu.tw/~sdchen/SensorLab/G28.pdf, 2012.
[7] 彭信華，"應用三軸加速規於建物傾斜量測之設計與驗證"，國立台灣科技大學營建工程系碩士論文，民國九十九年
[8] K. Seifert and O. Camacho, "Implementing positioning algorithms using accelerometers," technical report,Freescale semiconductor, 2007.
[9] E. Akeila, Z. Salcic and A. Swain, "A self-resetting method for reducing error accumulation in INS-based tracking," in Position Location and Navigation Symposium (PLANS), Indian Wells, pp.418-427, May 2010.
[10] 楊智任，"運用加速規於載具定位"，國立臺灣海洋大學機械與機電工程學系碩士學位論文，民國九十六年
[11] C.-M. Wu, C.-K. Chang and T.-T. Chu , "An Optimal Design of Target Tracker by α-β-γ-δ Filter with Genetic Algorithm," Journal of the Chinese Society of Mechanical Engineers, vol. 30, no. 6, p. 467~474, December 2009.
[12] C.-M. Wu, C.-K. Chang and T.-T. Chu, "A new EP-based α–β–γ–δ filter for target tracking," Mathematics and Computers in Simulation, pp. 1785-1794, May 2011.
[13] 林韋澄，"慣性導航之訊號飄移抑制方法設計與實驗分析"，國立成功大學機械工程學系碩士論文，民國九十八年
[14] Microchip, "PIC16F87XA Datasheet,"technical report, Microchip Technology Inc., 2003.
[15] Microchip, "PICkit 3 In-Circuit Debugger," Microchip, http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en538340&redirects=pickit3, 2012.
[16] Mathworks, "System Requirements - Release 2012a," http://www.mathworks.com/support/sysreq/current_release/index.html, 2012.
[17] K. Ogata, "Discrete-time control system," New Jersey: Prentice-Hall Inc., 1987.
[18] Analog devices, "Small, low power, 3-axis ±3g iMEMS Accelerometer ADXL330," http://www.analog.com/static/imported-files/data_sheets/
ADXL330.pdf, 2012.
[19] National Semiconductor, "LM117/LM317A/LM317 3-terminal adjustable regulator," https://www.national.com/ds/LM/LM117.pdf, 2012.