第五章 結論與建議
第二節 建議
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第二節 建議
根據本研究所建立的室內定位導航之成果，提出以下的建議與未來工作，
以供後續從事相關研究之參考。
一、本研究使用於場景建置之各項數據，目前僅適用於本研究區域，尚無法 建立一適用任何地形之標準，若往後進行相關研究，可依據本研究之方 法，另外針對其它場景進行校正點設置。
二、陀螺儀數據獲取過程，常會有行動裝置陀螺儀資料收集錯誤的問題，導 致旋轉角計算錯誤，例如轉了一個 90 度的彎，但收集到的數據卻是 180 度的情況。因此建議在使用行動裝置收集陀螺儀數據前，應先晃動旋轉 或者將行動裝置繞八字型等方式，重新校正陀螺儀，避免陀螺儀產生錯 誤。
三、步長估計雖預測率已可達九成，然而步長估計之樣本差異大，且並非時 間序列分析，因此在某些樣本上之誤差仍大。後續研究可針對步長估計 提出更準確的預測模型，以減少坐標計算過程中之距離誤差。
四、場景約制透過方位角門檻校正坐標之方式，由研究中已證實可以減少 PDR 計算坐標誤差，然而主要減少的誤差著重於消除角度誤差，但在 消除角度誤差的過程亦會同時產生距離誤差。因此，後續相關研究可著 重於思考如何在減少角度誤差的情形下，不同時造成距離上誤差。
五、本研究已證實透過場景約制方法可以有效的提升室內定位導航之精度，
然而尚未將研究成果開發成行動裝置，因此建議後續研究將可基於本研 究所提出之校正法，進行後續應用程式之開發與應用。
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l C h engchi U ni ve rs it y 附錄 步長估計資料
PEOPLE T IME(S) LENGT H(M) HEIGHT (M) LEG(M) ST EP_LENGTH AVERAGE_ST EP_INTERVAL ST EP_FREQUENCY LEG_HEIGHT H_fstep LegHeight_fstep T IME(S)
1 6.61 7.97 1.795 1.081 0.80 0.661 1.513 0.602 2.716 0.911 6.61 2 5.03 7.315 1.644 1.147 0.73 0.503 1.988 0.698 3.268 1.387 5.03 3 4.38 6.639 1.607 1 0.66 0.438 2.283 0.622 3.669 1.421 4.38 4 4.71 7.114 1.749 1.071 0.71 0.471 2.123 0.612 3.713 1.300 4.71 5 4.41 7.497 1.45 1.05 0.75 0.441 2.268 0.724 3.288 1.642 4.41 6 4.36 7.058 1.805 1.09 0.71 0.436 2.294 0.604 4.140 1.385 4.36 7 8 7.656 1.811 1.084 0.77 0.8 1.250 0.599 2.264 0.748 8 8 6.32 6.388 1.653 1.006 0.64 0.632 1.582 0.609 2.616 0.963 6.32 9 5.95 7.154 1.609 0.987 0.72 0.595 1.681 0.613 2.704 1.031 5.95 10 5.78 7.899 1.602 1.003 0.79 0.578 1.730 0.626 2.772 1.083 5.78 11 5.74 6.076 1.704 1.033 0.61 0.574 1.742 0.606 2.969 1.056 5.74 12 4.43 7.338 1.73 1.025 0.73 0.443 2.257 0.592 3.905 1.337 4.43 13 4.91 6.628 1.595 0.978 0.66 0.491 2.037 0.613 3.248 1.249 4.91 14 5.97 5.991 1.736 1.062 0.60 0.597 1.675 0.612 2.908 1.025 5.97 15 7.29 6.25 1.849 1.106 0.63 0.729 1.372 0.598 2.536 0.821 7.29 16 6.27 6.656 1.775 1.075 0.67 0.627 1.595 0.606 2.831 0.966 6.27 17 5.13 6.998 1.611 0.979 0.70 0.513 1.949 0.608 3.140 1.185 5.13 PEOPLE:實驗者編號、TIME:行走時間、LENGTH:行走距離、HEIGHT:身高、LEG:腿長、STEP_LENGTH:步長、AVERAGE_STEP_INTERVALA:
平均步伐間距、STEP_FREQUENCY:行走頻率、LEG_HEIGHT:腿長/身高、H_fstep:身高 x 行走頻率、LegHeight_fstep:LEG_HEIGHT x 行走頻率
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PEOPLE T IME(S) LENGT H(M) HEIGHT (M) LEG(M) ST EP_LENGTH AVERAGE_ST EP_INTERVAL ST EP_FREQUENCY LEG_HEIGHT H_fstep LegHeight_fstep T IME(S)
18 5.76 7.422 1.656 1.015 0.74 0.576 1.736 0.613 2.875 1.064 5.76 19 6.09 5.902 1.674 0.973 0.59 0.609 1.642 0.581 2.749 0.954 6.09 20 6.31 7.356 1.764 1.073 0.74 0.631 1.585 0.608 2.796 0.964 6.31 21 6.11 6.382 1.702 1.062 0.64 0.611 1.637 0.624 2.786 1.021 6.11 22 6.01 8.112 1.738 1.038 0.81 0.601 1.664 0.597 2.892 0.994 6.01 23 5.85 5.701 1.659 1.001 0.57 0.585 1.709 0.603 2.836 1.031 5.85 24 6.14 5.324 1.573 0.966 0.53 0.614 1.629 0.614 2.562 1.000 6.14 25 5.12 7.979 1.869 1.121 0.80 0.512 1.953 0.600 3.650 1.171 5.12 26 4.97 8.064 1.772 1.09 0.81 0.497 2.012 0.615 3.565 1.238 4.97 27 5.55 6.765 1.712 1.034 0.68 0.555 1.802 0.604 3.085 1.088 5.55 28 5.12 6.71 1.603 0.948 0.67 0.512 1.953 0.591 3.131 1.155 5.12 29 5.15 7.457 1.604 0.959 0.75 0.515 1.942 0.598 3.115 1.161 5.15 30 5.1 7.9 1.64 1.023 0.79 0.51 1.961 0.624 3.216 1.223 5.1 31 7 5.94 1.756 1.045 0.59 0.7 1.429 0.595 2.509 0.850 7 32 7.06 5.787 1.74 1.035 0.58 0.706 1.416 0.595 2.465 0.843 7.06 33 5.99 7.057 1.802 1.126 0.71 0.599 1.669 0.625 3.008 1.043 5.99 34 6.06 5.886 1.786 1.078 0.59 0.606 1.650 0.604 2.947 0.996 6.06 PEOPLE:實驗者編號、TIME:行走時間、LENGTH:行走距離、HEIGHT:身高、LEG:腿長、STEP_LENGTH:步長、AVERAGE_STEP_INTERVALA:
平均步伐間距、STEP_FREQUENCY:行走頻率、LEG_HEIGHT:腿長/身高、H_fstep:身高 x 行走頻率、LegHeight_fstep:LEG_HEIGHT x 行走頻率
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PEOPLE T IME(S) LENGT H(M) HEIGHT (M) LEG(M) ST EP_LENGTH AVERAGE_ST EP_INTERVAL ST EP_FREQUENCY LEG_HEIGHT H_fstep LegHeight_fstep T IME(S)
35 6.05 6.923 1.851 1.081 0.69 0.605 1.653 0.584 3.060 0.965 6.05 36 5.38 6.051 1.723 1.021 0.61 0.538 1.859 0.593 3.203 1.101 5.38 37 4.95 5.598 1.599 0.936 0.56 0.495 2.020 0.585 3.230 1.183 4.95 38 5.45 7.897 1.635 0.966 0.79 0.545 1.835 0.591 3.000 1.084 5.45 39 6.4 7.405 1.748 1.05 0.74 0.64 1.563 0.601 2.731 0.939 6.4 40 6.63 7.417 1.706 1.039 0.74 0.663 1.508 0.609 2.573 0.919 6.63 41 5.21 6.892 1.632 0.962 0.69 0.521 1.919 0.589 3.132 1.131 5.21 42 5.18 7.586 1.762 1.081 0.76 0.518 1.931 0.614 3.402 1.184 5.18 43 5.37 8.387 1.773 1.053 0.84 0.537 1.862 0.594 3.302 1.106 5.37 44 5.87 7.63 1.695 1.071 0.76 0.587 1.704 0.632 2.888 1.076 5.87 45 5.67 7.251 1.68 1 0.73 0.567 1.764 0.595 2.963 1.050 5.67 46 5.43 7.132 1.683 1.006 0.71 0.543 1.842 0.598 3.099 1.101 5.43 47 4.12 6.817 1.576 0.925 0.68 0.412 2.427 0.587 3.825 1.425 4.12 48 6.26 8.516 1.674 1.021 0.85 0.626 1.597 0.610 2.674 0.974 6.26 49 5.5 7.111 1.638 0.993 0.71 0.55 1.818 0.606 2.978 1.102 5.5 50 4.91 8.369 1.624 0.977 0.84 0.491 2.037 0.602 3.308 1.225 4.91 51 5.46 7.513 1.699 1.026 0.75 0.546 1.832 0.604 3.112 1.106 5.46 PEOPLE:實驗者編號、TIME:行走時間、LENGTH:行走距離、HEIGHT:身高、LEG:腿長、STEP_LENGTH:步長、AVERAGE_STEP_INTERVALA:
平均步伐間距、STEP_FREQUENCY:行走頻率、LEG_HEIGHT:腿長/身高、H_fstep:身高 x 行走頻率、LegHeight_fstep:LEG_HEIGHT x 行走頻率
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PEOPLE T IME(S) LENGT H(M) HEIGHT (M) LEG(M) ST EP_LENGTH AVERAGE_ST EP_INTERVAL ST EP_FREQUENCY LEG_HEIGHT H_fstep LegHeight_fstep T IME(S)
52 4.91 7.086 1.647 1.008 0.71 0.491 2.037 0.612 3.354 1.246 4.91 53 5.78 7.461 1.753 1.033 0.75 0.578 1.730 0.589 3.033 1.020 5.78 54 5.45 6.601 1.591 1.012 0.66 0.545 1.835 0.636 2.919 1.167 5.45 55 5.36 6.933 1.677 1.033 0.69 0.536 1.866 0.616 3.129 1.149 5.36 56 5.01 7.289 1.528 0.911 0.73 0.501 1.996 0.596 3.050 1.190 5.01 57 5.85 8.562 1.724 1.061 0.86 0.585 1.709 0.615 2.947 1.052 5.85 58 5.57 7.535 1.729 1.036 0.75 0.557 1.795 0.599 3.104 1.076 5.57 59 5.52 7.172 1.68 1.015 0.72 0.552 1.812 0.604 3.043 1.095 5.52 60 5.62 7.068 1.692 1.024 0.71 0.562 1.779 0.605 3.011 1.077 5.62 61 5.76 7.26 1.715 1.04 0.73 0.576 1.736 0.606 2.977 1.053 5.76 62 5.45 6.315 1.564 0.94 0.63 0.545 1.835 0.601 2.870 1.103 5.45 63 5.35 7.451 1.653 0.974 0.75 0.535 1.869 0.589 3.090 1.101 5.35 64 4.86 7.312 1.641 1.022 0.73 0.486 2.058 0.623 3.377 1.281 4.86 65 5.28 8.647 1.795 1.081 0.86 0.528 1.894 0.602 3.400 1.141 5.28 66 3.98 8.508 1.644 1.147 0.85 0.398 2.513 0.698 4.131 1.753 3.98 67 3.76 6.724 1.607 1 0.67 0.376 2.660 0.622 4.274 1.655 3.76 68 4.05 8.312 1.749 1.071 0.83 0.405 2.469 0.612 4.319 1.512 4.05 PEOPLE:實驗者編號、TIME:行走時間、LENGTH:行走距離、HEIGHT:身高、LEG:腿長、STEP_LENGTH:步長、AVERAGE_STEP_INTERVALA:
平均步伐間距、STEP_FREQUENCY:行走頻率、LEG_HEIGHT:腿長/身高、H_fstep:身高 x 行走頻率、LegHeight_fstep:LEG_HEIGHT x 行走頻率
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PEOPLE T IME(S) LENGT H(M) HEIGHT (M) LEG(M) ST EP_LENGTH AVERAGE_ST EP_INTERVAL ST EP_FREQUENCY LEG_HEIGHT H_fstep LegHeight_fstep T IME(S)
69 3.87 9.489 1.45 1.05 0.95 0.387 2.584 0.724 3.747 1.871 3.87 70 3.85 8.237 1.805 1.09 0.82 0.385 2.597 0.604 4.688 1.569 3.85 71 5.9 8.45 1.811 1.084 0.85 0.59 1.695 0.599 3.069 1.015 5.9 72 5.52 8.437 1.653 1.006 0.84 0.552 1.812 0.609 2.995 1.103 5.52 73 4.87 7.907 1.609 0.987 0.79 0.487 2.053 0.613 3.304 1.260 4.87 74 4.22 8.38 1.602 1.003 0.84 0.422 2.370 0.626 3.796 1.484 4.22 75 5.04 8.46 1.704 1.033 0.85 0.504 1.984 0.606 3.381 1.203 5.04 76 4.2 7.84 1.73 1.025 0.78 0.42 2.381 0.592 4.119 1.411 4.2 77 4.03 6.683 1.595 0.978 0.67 0.403 2.481 0.613 3.958 1.522 4.03 78 4.99 7.865 1.736 1.062 0.79 0.499 2.004 0.612 3.479 1.226 4.99 79 5.48 9.153 1.849 1.106 0.92 0.548 1.825 0.598 3.374 1.092 5.48 80 5.2 8.741 1.775 1.075 0.87 0.52 1.923 0.606 3.413 1.165 5.2 81 4.72 7.242 1.611 0.979 0.72 0.472 2.119 0.608 3.413 1.287 4.72 82 4.78 8.524 1.656 1.015 0.85 0.478 2.092 0.613 3.464 1.282 4.78 83 5.04 9.1 1.674 0.973 0.91 0.504 1.984 0.581 3.321 1.153 5.04 84 5.17 9.184 1.764 1.073 0.92 0.517 1.934 0.608 3.412 1.177 5.17 85 4.37 7.346 1.702 1.062 0.73 0.437 2.288 0.624 3.895 1.428 4.37 PEOPLE:實驗者編號、TIME:行走時間、LENGTH:行走距離、HEIGHT:身高、LEG:腿長、STEP_LENGTH:步長、AVERAGE_STEP_INTERVALA:
平均步伐間距、STEP_FREQUENCY:行走頻率、LEG_HEIGHT:腿長/身高、H_fstep:身高 x 行走頻率、LegHeight_fstep:LEG_HEIGHT x 行走頻率
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PEOPLE T IME(S) LENGT H(M) HEIGHT (M) LEG(M) ST EP_LENGTH AVERAGE_ST EP_INTERVAL ST EP_FREQUENCY LEG_HEIGHT H_fstep LegHeight_fstep T IME(S)
86 5.24 8.531 1.738 1.038 0.85 0.524 1.908 0.597 3.317 1.140 5.24 87 4.32 7.726 1.659 1.001 0.77 0.432 2.315 0.603 3.840 1.397 4.32 88 4.01 7.468 1.573 0.966 0.75 0.401 2.494 0.614 3.923 1.531 4.01 89 4.74 9.344 1.869 1.121 0.93 0.474 2.110 0.600 3.943 1.265 4.74 90 4.48 9.125 1.772 1.09 0.91 0.448 2.232 0.615 3.955 1.373 4.48 91 4.38 7.112 1.712 1.034 0.71 0.438 2.283 0.604 3.909 1.379 4.38 92 4.9 7.852 1.603 0.948 0.79 0.49 2.041 0.591 3.271 1.207 4.9 93 4.41 8.302 1.604 0.959 0.83 0.441 2.268 0.598 3.637 1.356 4.41 94 4.25 8.565 1.64 1.023 0.86 0.425 2.353 0.624 3.859 1.468 4.25 95 5.56 7.123 1.756 1.045 0.71 0.556 1.799 0.595 3.158 1.070 5.56 96 5.06 8.001 1.74 1.035 0.80 0.506 1.976 0.595 3.439 1.176 5.06 97 5.27 8.347 1.802 1.126 0.83 0.527 1.898 0.625 3.419 1.186 5.27 98 5.24 7.068 1.786 1.078 0.71 0.524 1.908 0.604 3.408 1.152 5.24 99 5.18 8.347 1.851 1.081 0.83 0.518 1.931 0.584 3.573 1.127 5.18 100 4.53 8.191 1.723 1.021 0.82 0.453 2.208 0.593 3.804 1.308 4.53 101 3.64 7.188 1.599 0.936 0.72 0.364 2.747 0.585 4.393 1.608 3.64 102 4.54 8.336 1.635 0.966 0.83 0.454 2.203 0.591 3.601 1.301 4.54 PEOPLE:實驗者編號、TIME:行走時間、LENGTH:行走距離、HEIGHT:身高、LEG:腿長、STEP_LENGTH:步長、AVERAGE_STEP_INTERVALA:
平均步伐間距、STEP_FREQUENCY:行走頻率、LEG_HEIGHT:腿長/身高、H_fstep:身高 x 行走頻率、LegHeight_fstep:LEG_HEIGHT x 行走頻率
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PEOPLE T IME(S) LENGT H(M) HEIGHT (M) LEG(M) ST EP_LENGTH AVERAGE_ST EP_INTERVAL ST EP_FREQUENCY LEG_HEIGHT H_fstep LegHeight_fstep T IME(S)
103 5.14 8.409 1.748 1.05 0.84 0.514 1.946 0.601 3.401 1.169 5.14 104 5.05 8.209 1.706 1.039 0.82 0.505 1.980 0.609 3.378 1.206 5.05 105 5.43 7.136 1.632 0.962 0.71 0.543 1.842 0.589 3.006 1.086 5.43 106 4.49 8.631 1.762 1.081 0.86 0.449 2.227 0.614 3.924 1.366 4.49 107 4.34 9.358 1.773 1.053 0.94 0.434 2.304 0.594 4.085 1.368 4.34 108 4.8 8.306 1.695 1.071 0.83 0.48 2.083 0.632 3.531 1.316 4.8 109 4.93 8.117 1.68 1 0.81 0.493 2.028 0.595 3.408 1.207 4.93 110 4.05 8.221 1.683 1.006 0.82 0.405 2.469 0.598 4.156 1.476 4.05 111 3.81 6.121 1.576 0.925 0.61 0.381 2.625 0.587 4.136 1.540 3.81 112 5.8 9.332 1.674 1.021 0.93 0.58 1.724 0.610 2.886 1.052 5.8 113 4.61 8.265 1.638 0.993 0.83 0.461 2.169 0.606 3.553 1.315 4.61 114 4.74 9.015 1.624 0.977 0.90 0.474 2.110 0.602 3.426 1.269 4.74 115 4.57 8.455 1.699 1.026 0.85 0.457 2.188 0.604 3.718 1.321 4.57 116 4.92 8.772 1.647 1.008 0.88 0.492 2.033 0.612 3.348 1.244 4.92 117 5.06 9.208 1.753 1.033 0.92 0.506 1.976 0.589 3.464 1.165 5.06 118 3.76 9.462 1.591 1.012 0.95 0.376 2.660 0.636 4.231 1.692 3.76 119 4.43 8.074 1.677 1.033 0.81 0.443 2.257 0.616 3.786 1.390 4.43 PEOPLE:實驗者編號、TIME:行走時間、LENGTH:行走距離、HEIGHT:身高、LEG:腿長、STEP_LENGTH:步長、AVERAGE_STEP_INTERVALA:
平均步伐間距、STEP_FREQUENCY:行走頻率、LEG_HEIGHT:腿長/身高、H_fstep:身高 x 行走頻率、LegHeight_fstep:LEG_HEIGHT x 行走頻率
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PEOPLE T IME(S) LENGT H(M) HEIGHT (M) LEG(M) ST EP_LENGTH AVERAGE_ST EP_INTERVAL ST EP_FREQUENCY LEG_HEIGHT H_fstep LegHeight_fstep T IME(S)
120 4.24 7.555 1.528 0.911 0.76 0.424 2.358 0.596 3.604 1.406 4.24 121 5.3 9.854 1.724 1.061 0.99 0.53 1.887 0.615 3.253 1.161 5.3 122 4.71 10.005 1.729 1.036 1.00 0.471 2.123 0.599 3.671 1.272 4.71 123 4.4 8.101 1.68 1.015 0.81 0.44 2.273 0.604 3.818 1.373 4.4 124 3.73 8.079 1.692 1.024 0.81 0.373 2.681 0.605 4.536 1.623 3.73 125 4.42 8.415 1.715 1.04 0.84 0.442 2.262 0.606 3.880 1.372 4.42 126 4.45 7.99 1.564 0.94 0.80 0.445 2.247 0.601 3.515 1.351 4.45 127 4.89 7.742 1.653 0.974 0.77 0.489 2.045 0.589 3.380 1.205 4.89 128 4.18 7.852 1.641 1.022 0.79 0.418 2.392 0.623 3.926 1.490 4.18 PEOPLE:實驗者編號、TIME:行走時間、LENGTH:行走距離、HEIGHT:身高、LEG:腿長、STEP_LENGTH:步長、AVERAGE_STEP_INTERVALA:
平均步伐間距、STEP_FREQUENCY:行走頻率、LEG_HEIGHT:腿長/身高、H_fstep:身高 x 行走頻率、LegHeight_fstep:LEG_HEIGHT x 行走頻率