無線感測器網路是由許多具備無線通訊能力的感測器節點所組成的一個網路。感測器節點擁有感測資料、通訊傳輸的能力，將感應到的資料數據經由路由路徑方式傳送到資料收集中心。而在無線感測器網路中，取得大多數感測器節點的位置，作出精準的位置追蹤，對於我們在資料傳輸上，有著很大的幫助。
本論文提出一個應用於無線感測器網路下的定位方法，配合RSS的計算法則與三角定位原理來計算出未知座標節點。藉由部分搭載GPS的感測器節點，來求出其他未搭載GPS的感測器節點。爾後再利用計算出座標的節點來求出更多的未知座標節點。減少了無線感測裝置在應用定位追蹤上的成本，並且快速的找出整體網路中所有感測器節點的位置。

Wireless sensor network is composed of many sensor nodes that have abilities of wireless communications. Sensor nodes can sense data or transfer information. When a node senses some data, it can transfer them into the data collecting center with some routing path mechanism. In wireless sensor networks, it is helpful to data transferring when we obtain the locations of many of the sensor nodes and execute that target checking accurately.
This thesis presents a localization mechanism applied to wireless sensor networks. This mechanism can cooperate with RSS estimation method and trilateration to estimate the coordinates of some unknown nodes. It can estimate the sensor nodes that have no GPS with some other nodes that have GPS devices. Thereafter, we can obtain more unknown nodes with some estimated nodes. It decreases the cost that localization tracking of wireless sensor devices. And it finds the location that all sensor nodes are in whole network rapidly.

第一章 緒論-1-
1-1 研究背景-2-
1-2 研究動機-4-
1-3 研究目的-6-
1-4 論文架構-7-
第二章 相關技術背景-8-
2-1 全球定位系統（GPS）-8-
2-2 估測距離相關的定位方法-13-
第三章 應用於無線感測器網路下的定位方法-18-
3-1 初始環境設定-19-
3-2 演算法的流程-26-
3-3 感測器節點的配置-27-
3-4 估測感測器節點間的距離和計算座標-30-
3-5 感測器節點的工作-33-
3-6 整體網路節點座標計算情形-43-
3-7 定位方法的特點	-51-
第四章 模擬結果分析-52-
4-1 模擬環境-52-
4-2 結果分析-53-
第五章 結論與未來研究方向-56-
5-1 結論-56-
5-2 未來研究方向-57-
參考文獻-58-
附錄 論文英文稿-61-
圖目錄
圖1 GPS接收器位於2個衛星訊號涵蓋區-11-
圖2 GPS接收器位於3個衛星訊號的交點-11-
圖3 AOA定位原理-14-
圖4 感測器節點的廣播範圍-20-
圖5（a）：Node Broadcast Packet（NBP）-21-
圖5（b）：Node Ack Packet（NAP）-21-
圖6 感測器節點專屬表格Node Information Table-21-
圖7 感測器節點收到NBP封包的判斷流程圖-23-
圖8 定位演算法的流程圖-27-
圖9 搭載GPS的感測器節點配置圖-28-
圖10 感測器網路節點分佈圖-29-
圖11 感測器節點收到origin發送的NBP封包後，NIT更新結果-31-
圖12 RN收到NAP封包，NIT更新情形-35-
圖13 舊的RN找到新的兩個RN-36-
圖14 未知座標節點收到NBP封包，NIT更新情形-39-
圖15 未知座標節點與三個來源點作距離估測-40-
圖16 未知座標節點將距離計算結果更新至NIT-41-
圖17 未知座標節點將座標計算結果更新至NIT-42-
圖18 未知座標節點計算流程圖	-43-
圖19 第一組RN發出NBP封包後，整體網路節點座標計算情形-44-
圖20 第一組RN發出NBP封包後，算出座標的節點回傳NAP封包情形- 45-
圖21 第一組RN接收NAP封包後，告知下一組RN的情形-46-
圖22 第二回合開始，RN發出NBP封包後，各節點計算情形-47-
圖23 第二回合結束，新的RN分佈情形-49-
圖24 第三回合開始，各節點計算情形-50-
圖25 初始條件節點位於網路中心-53-
圖26 初始條件節點位於網路左下角-54-

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