物聯網(Internet of Things，IoT)是指物件透過感知設備與網際網路連接，使物件能夠被獨立定址，物件間能夠彼此交流，並與實體世界溝通，形成聯通的網路，提供智慧化識別應用與管理。而其中最重要的部分即為感知網路中物件的定址與追蹤，也就是如何讓物聯網中所有物件均能取得所在位置的地理定位資訊，並儲存其描述資料。
我們熟知全球定位系統(Global Positioning System，GPS)是快速、精確的定位系統，但室內環境由於衛星遮蔽會使得準確度降低甚至喪失訊號，至於室內定位也已有許多發展成熟的無線技術，像是WiFi、RFID、Bluetooth等，但在物聯網的概念下，我們想建立一個沒有環境限制的定位系統。因此，本研究提出一個室內、外無縫定位系統，可讓物件無論處於室內、室外皆能取得統一座標的地理定位資訊。此定位系統結合GPS、WiFi、BT 4.0(BLE)及航位推算(Dead Reckoning, DR)四種定位技術所產生的定位資訊，透過互補擴展型卡爾曼濾波器(Complementary Extended Kalman Filter，CEKF)進行資料整合與量測值修正，使得無論在室內、室外環境下，皆能取得物聯網中的物件之地理定位資訊以及回報其物件資訊，實現沒有環境限制的定位系統。

Internet of Things (IoT) refers to a scenario in which objects are uniquely identified and has the ability to connect the physical world over a network without requiring human-to-human and human-to-computer interaction. Hence, the most important part of IoT is how to make objects addressable and traceable.
As we know, Global Positioning System (GPS) is a speed and precise positioning system. However, the situation is quite opposite when GPS positioning in indoors. Due to the absence of Line of Sight (LOS) to satellites, the performance of GPS is severely degraded. As for indoors, there are many mature positioning technologies such as WiFi, RFID, Bluetooth, and so on. Each positioning method has its advantages, weakness and restrictions. Thus, combining more than one type of positioning algorithms at the same time could get better performance.
Through inspired by IoT, there is a need for ubiquitous positioning system that can work both indoors and outdoors. Due to unique properties of different positioning systems, drawing on the strength of each to offset the weakness of the other is necessary. Therefore, we propose a ubiquitous positioning system combining GPS, WiFi, BT 4.0, and Dead Reckoning (DR). Also, with the use of Complementary Extended Kalman Filter (CEKF) for the data fusion and correcting the trajectory; the proposed system implements a ubiquitous positioning system which can position objects anytime and anywhere. The result shows the proposed hybrid positioning system performs better than other individual positioning methods.

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