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研究生： 謝旻昆
Sie, Min-Kun
論文名稱： 基於接收機率之室內定位系統
Indoor Positioning System Based on Received Signal Probability
指導教授： 郭致宏
Kuo, Chih-Hung
學位類別： 碩士
Master
系所名稱： 電機資訊學院 - 電機工程學系
Department of Electrical Engineering
論文出版年： 2017
畢業學年度： 106
語文別： 中文
論文頁數： 64
中文關鍵詞： 藍牙 、藍芽低功率 、室內定位
外文關鍵詞： Bluetooth, Bluetooth Low Energy, BLE, Indoor Positioning
相關次數： 點閱：103  下載：6 
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    • 近年來因為智慧型手機的發展，室內定位越來越受重視。本論文提出一基於藍牙低功率 (Bluetooth Low Energy, BLE) Beacon 的室內定位方法，充份利用 BLE Beacon 高自訂性，高相容性和便宜的優勢，並利用硬體接收訊號時最低接收訊號強度 (Received Signal Strength, RSS) 的性質定位。先前的定位方法要達到最低的誤差，通常需要特殊硬體，或者單一節點的定位範圍受限，再不然就是計算資源要求較高。有時這些限制會和現代人對智慧型手機的期望相背，例如：有特殊硬體，手機就會變大。運算資源要求高，手機續航力就會減少。和先前的方法比較本論文提出的方法，有較少的的事前準備工作，無需特殊硬體，運算資源要求也不高，同時也達到不錯的定位精度。根據模擬的結果，本論文提出的定位方法，定位誤差可以小於 1.5公尺。

    In this paper, we introduce an indoor location estimation method based on the Bluetooth low energy (BLE) beacon. Beacons are advertised at low transmission power level to limit the estimation error. Each beacon point transmits with multiple power levels to increase the utilizing efficiency. We fully take advantage of BLE beacons that are cheap and controllable. Simulation results show that the estimation error of the proposed scheme is less than 1.5 meter.

    目錄 摘要 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I 延伸英文摘要 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II 誌謝 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VIII 目錄 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IX 圖目錄 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XI 表目錄 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XIV 1 緒論 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1-1 前言 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1-2 研究動機 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1-3 研究貢獻 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1-4 論文架構 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2 研究背景 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2-1 路徑損失模型 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2-1-1 理論模型 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2-1-2 ITU 室內路徑損失模型 . . . . . . . . . . . . . . . . . . . . . . . . . 6 2-1-3 短距離模型 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2-2 Bluetooth Low Energy (BLE) . . . . . . . . . . . . . . . . . . . . . . . 7 2-2-1 網路拓樸 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2-2-2 封包的發射和接收 . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3 相關研究 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 3-1 定位演算法 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 3-1-1 三角定位法 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 3-1-2 分類演算法 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3-2 常用的定位系統 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3-3 比較 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 4 基於接收機率之室內定位系統 . . . . . . . . . . . . . . . . . . . . . . . . 23 4-1 接收訊號機率 (Received Signal Probability, RSP) . . . . . . . . . . . . .25 4-1-1 RSS 之缺點 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4-1-2 單一個 BLE Beacon 時的 RSP 模型 . . . . . . . . . . . . . . . . . . . .27 4-1-3 RSP 量測分析 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 4-2 使用 RSP 定位 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29 4-2-1 由機率計算與 BLE Beacon 之距離 . . . . . . . . . . . . . . . . . . . . 29 4-2-2 由機率計算最有可能的位置 . . . . . . . . . . . . . . . . . . . . . . . 32 4-3 簡化線上定位計算 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4-3-1 收集可能的旗標組合 . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4-3-2 建立字典 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4-3-3 查表定位 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4-4 定位方法 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4-4-1 定位流程 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 5 實驗及模擬 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 5-1 量測 RSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 5-1-1 實驗環境 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 5-1-2 實驗結果 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 5-1-3 量測分析 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 5-2 量測 RSP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 5-2-1 實驗環境 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 5-2-2 量測結果 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5-3 定位模擬 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 5-3-1 線下階段 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 5-3-2 線上階段 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5-3-3 模擬結果分析 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 5-3-4 比較 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 6 結論與未來展望 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 6-1 結論 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 6-2 未來展望 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 參考文獻 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

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