由於Wi-Fi基地台普及地建設於室內，基於Wi-Fi之無線電頻率訊號紋定位(Radio frequency fingerprinting)成為近年來熱門的室內定位系統。但其在建設資料庫時非常費時，需要量測參考點之位置並收集每個參考點上之Wi-Fi訊號強度紋。而行人航位推算(Pedestrian Dead Reckoning)可以被用來整合於幫助建設資料庫。行人航位推算是基於智慧型手機內建的慣性元件，包含加速規和陀螺儀，以及地磁計，來估測行人之步長及轉向進而推算行人之位置。利用行人在手持智慧型手機行走時推算之腳步位置以及手機所接收到之Wi-Fi訊號強度紋，便可以用來取代傳統建設資料庫所需要的參考點位置及參考點上的訊號強度紋。為此，本論文引進了Walkie-Markie演算法來進行整合。該演算法可以限制行人行向定位中的累積誤差以及解決行人步頻以及Wi-Fi訊號掃描率不同之問題。在本篇論文中，實驗皆進行於國立成功大學航太系館。行人航位推算之誤差可以控制在6%以內，並且透過Walkie-Markie的限制達到2.2%誤差。在Wi-Fi訊號紋定位的部分，本論文採用了加權最近鄰居法來進行匹配定位測試了傳統的資料庫以及行人行向定位所建之資料庫。後者為本論文提出之整合定位解平均誤差為2.7公尺。最後本論文提出了利用擴展卡爾曼濾波器來整合實時之使用者定位解來提升精確度。

Radio frequency (RF) fingerprinting based on Wi-Fi received signal strength (RSS) is a popular indoor navigation solution. However, Wi-Fi fingerprinting requires the calibration of the database, which means receiving RSS at a reference point (RP). Pedestrian dead reckoning (PDR) along with the use of mobile built-in inertial measurement units (IMUs) and a magnetometer can be used to reduce the effort necessary to accomplish this goal. The location of RPs can be replaced by the users’ PDR step position. Furthermore, the Walkie-Markie method can be applied to limit the cumulated error from PDR and build the database. This method defines the Wi-Fi marks necessary to pull back the PDR trajectory. Because annotating the step positions with the Wi-Fi RSS is one of the Walkie-Markie processes, this information can be used to build the Wi-Fi database. Experiments were conducted in the Department of Aeronautics and Astronautics with a smartphone held in texting mode. The PDR error was approximately less than 6% with respect to the walking distance. The Walkie-Markie method was then applied to correct the PDR positioning results and limit the error to less than 3%. Walkie-Markie can provide the information built into the Wi-Fi fingerprinting database and can provide accuracy to about 2.7 meters. Finally, the real-time user positioning results from both the Wi-Fi fingerprinting and PDR can be integrated using EKF to enhance the positioning accuracy.

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