本論文提出三種以單顆麥克風為接收端，結合特定頻率音源及估測器的室內定位系統設計。從實驗中發現，利用聲音為設計的室內定位，非常容易受到聲音在室內的折射及反射⋯⋯等等的量測雜訊干擾，故如果可以估測出準確的聲壓強度，再利用聲壓強度與距離間的關係，即可以達到較為精準的定位結果。為了抑制量測雜訊的影響，本研究於室內定位系統的設計中，加入了三種估測器，分別是卡爾曼濾波器、 H2 估測器與 H∞ 估測器來降低室內環境噪音對聲壓強度造成的干擾並提升定位的精準度。從模擬及實測的結果可以看出，在有雜訊的情況下，加入了三種聲壓強度估測器後的室內定位設計，大大的提升了定位精準度。
本論文中提出的方法有三個特點：1.高精度的室內定位設計 2.對複雜環境噪音具高強健性 3.低成本設計。

Three microphone-based indoor localization designs developed by combining novel estimation designs and tag sound sources, which are with distinct frequencies, are proposed in this thesis. From the experiments in practice, results summarized a key point for achieving a satisfactory indoor localization: an accurate estimation of the instantaneous sound pressure level (SPL) that is inevitably affected by the random variation of environmental corruptions dominated the indoor localization performance. Based on this concept, three algorithms including Kalman filter based design, H2 estimation design, and H∞ estimation design which accompany with a sound pressure level model are developed for effectively mitigating the effects of received signal strength (RSS) variations due to the reverberation, the reflection, refraction and so on. From the simulation results and practical experiments, it is obvious that these proposed methods deliver really promising localization performance even under heavy environmental corruptions.
The physical characteristics of the proposed methods include: 1.High indoor localization accuracy, 2.Robustness to complicated and unpredictable environmental corruptions, and 3.Low cost designs.

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