室內機器人定位技術已經成為我們日常生活中廣泛的應用。像自動檢測手臂，室內打掃機和大樓室內座標系統。這些技術都是根據室內環境來追蹤用戶的位置。一旦位置確定後，系統可以判斷去做下一個操作動作。主要議題是在於距離準確度和坐標的估計以滿足對室內定位系統的處理。

光發射二極管(LED)不僅是照明設備，也適用於測量我們的移動機器人的位 置。當LED燈在開啟的時刻代表之數位訊號為1的表示，關閉的時刻是則為0。通過操作所述LED的數位信號稱作呼叫開關鍵控信號(OOK)在一個極短時間的片段，我們可以測量在具體的操作機制下我們的發射端至移動機器人的距離。根據以上的描述，室內移動機器人的定位與LED閃爍開關定位在本文中進行探討。在發送器，我們控制OOK編碼通過隧道傳遞到移動機器人。

正交Walsh碼通過對其相關函數(CF)檢測移動機器人的信號序列，以達成測距的目的。我們以 1 gigabyte/sec(GB/s)的發送器經過信號設定傳送我們的信號數據速率。運行的時間在移動機器人執行最大值的峰值數量重複出現五次。通過計算峰到峰值的時間間隔，以確認從LED到我們的移動機器人的設備所需要的時間。通過截取LED的前後峰值的時間間隔然後再經過三盞LED燈執行以上同樣程序之後，再利用三角定位演算法，我們可以找到機器人的位置。

Indoor robot positioning technique has become a widespread application in our daily life. Like the auto-detecting arm, the house-cleaning machine and the indoor mapping system. These techniques based on the indoor environment to trace user’s location. Once the location is confirmed, the system can judge to the next operation. The main issue is the distance accuracy and the coordinate’s estimation to fulfill the process for the indoor positioning system.

Light emitted diode (LED) is not only the lighting equipment also use to measure our location of mobile robot. When the lamp is in bright moment denotes the digital of one, and dark moment is the zero. By operating the LED digital signals called the on-off keying (OOK) signals in a time slice, we can measure our distance to the receiver of the mobile robot in specific mechanism. The above description on indoor mobile robot positioning with LED blinking are discussed in this thesis. In the transmitters, we control the OOK messages passing through the tunnel to the mobile robot.

Orthogonal Walsh codes are adopted for such purpose on correlation function (CF) to detect signal sequences in the mobile robot. We set our signal data rates of 1 gigabyte/sec (GB/s) passing signal from the transmitter. After running amount periods to execute the peak value of CF in the mobile robot appear by five times. By calculating peak-to-peak time interval to confirm the needed period from the LED to our device of mobile robot. By capturing three difference lamps of LED peak-to-peak interval plus triangular positioning algorithm. We can find the location of the mobile robot.

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