定位與導航技術一直是受到關注的研究課題，目前以全球定位系統的發展應用最為廣泛，但是在大樓林立或地下道等環境中，全球定位系統時常會有脫鎖的情況發生，而近年來，行人定位系統也逐漸發展起來，大多是使用感測器量測行人運動物理量進而推得每個時間點的所在位置，除了可有效的協助全球定位系統發生脫鎖的情況外，更可使用在室內環境定位。
本論文期望能以嵌入式系統研發出一套步態辨別與即時定位輔助系統，此系統不但可以分類出步態模式，並透過方位推估法做到行人即時定位。通過安裝於鞋上的慣性量測單元與壓力感測器的輸出資訊，藉由無線傳輸模組以無線網路傳送至嵌入式平台運算，達到步伐偵測、步距估測與步態辨別的功能。
根據座標轉換與零速修正的方式，修正積分演算造成的累積物差，並將演算後結果以方位推估法做定位使用。最後，將行人定位資訊以及步態模式從嵌入式平台以無線網路傳輸方式傳送至遠端智慧型手機，達到遠端監控效果。

Along with the development of localization and navigation technologies, the Global Positioning System (GPS) plays an important role in our daily life, but it is confined in outdoor environments. The technology of human localization has been developed in recent years. This technology utilizes sensors to determine the movement of human and measure the distance of walking, which is not only used to solve the problem of GPS out-of-lock, but also used for the indoor localization.
This thesis describes a human step-length recognition and real-time localization base on an embedded system. The goal of this system is to develop a gait pattern classification and pedestrian dead reckoning (PDR) method for human localization. Through the information of an Inertial Measurement Unit (IMU) and two force sensors mounted on a shoe, the wireless transmission module is used to send data of sensors to an embedded platform. Then the functions of step detection, step length estimation and gait pattern recognition can be achieved.
According to coordinate transformation and the ZUPT algorithm, the accumulated error of velocity can be corrected. The dead reckoning method is used to obtain the information of location. Finally, the information of human location and gait patterns is sent to the Android system for remote monitoring.

論文審定書 i
誌 謝 ii
中文摘要 iii
Abstract iv
圖目錄 vii
表目錄 x
第一章 緒論 1
1.1 研究動機 1
1.2 研究背景 2
1.3 章節簡介 9
第二章 系統架構 10
2.1 系統硬體設備 11
2.2 作業系統與軟體開發套件 21
第三章 系統實現 26
3.1 步伐偵測 27
3.2 步距估測 40
3.3 步態辨別 47
3.4 即時遠端監控 50
第四章 實驗結果 55
4.1. 步伐偵測實驗結果 55
4.2. 步距估測實驗結果 56
4.3. 步態辨別實驗結果 57
4.4. 遠端監控與定位實驗結果 59
第五章 結論與未來展望 65
5.1 結論 65
5.2 未來展望 66
參考文獻 67
附錄 70
附錄A OMAP35x EVM驅動 70
附錄B Qt開發執行檔移植至OMAP35x EVM執行 77
附錄C 無線網路傳輸模組AT+i_Programmer設定[25] 77

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