高爾夫球是一個流行的運動，目前全球已有超過三萬多座的球場，具有極
大的商業發展潛力。高爾夫球運動的學習門檻較高，市面上已有許多輔助電子
產品為利用全球衛星定位系統(GPS)等技術幫助高爾夫球友掌握擊球距離，然而
卻存在諸多改善與進步空間。本研究提出一套稱為iPutting 的系統，採用iBeacon 技術為基礎在果嶺推測高爾夫球與球洞的距離。其做法為在果嶺佈建定位標記(landmark)設備，並混合使用多種過濾器，如均值、中數、高斯及卡爾曼等過濾器來降低訊號雜訊與訊號失真的影響，無須使用地圖資訊校正技術即可提升定距精準度，並可解決更換球洞位置以致不易定距的問題。本研究利用iPhone 以實作驗證iPutting的可行性。由實驗結果得知，iPutting 將定距誤差範圍縮小至3 公尺內，相較於使用GPS 技術輔助產品的10 公尺誤差，已提高 50%以上的定距離精確度。

Golf is one of popular sports. There are more than thirty thousand golf courses around the world, which implies that golf has great potential for commercial development. It is hard for beginners to learn golf. Therefore, many products using the Global Position System (GPS) and map calibration are on the market to assist golfers to properly control the driving distance and/or putting distance. However,these products still have some room to improve. The study proposes a system, which is called iPutting and uses the iBeacon technique to help golfers estimate the distance
between the golf ball and the hole in a golf green. The basic idea of iPutting is to deploy three landmarks around the golf green that send iBeacon signals periodically.
Golfers can then use smart phones to receive iBeacon signals of landmarks for the distance estimation. The iPutting system applies the combination of four filters,
namely the mean filter, the median filter, Gaussian filter and Kalman filter, to mitigate the influence of both signal noise and distortion. Without using the GPS system and map calibration, it achieves fair accuracy of distance estimation.Furthermore, iPutting tackles the problem caused by the scheduled hole position changes on the green. The iPutting system is implemented as an app running on iPhones to verify the system correctness and evaluate system performance. The performance evaluation shows that the iPutting system achieves the distance estimation error of 3 meters or less, which improves the error of 10 meters of the
counterparts using the GPS system by a factor of more than 50%.

中文摘要 ii
Abstract iii
誌謝 iv
目錄 v
圖目錄 vii
表目錄 ix
一、 緒論 1
1-1 研究動機與背景 1
1-2 研究目的 4
1-3 章節概要 4
二、 背景知識 6
2-1 iBeacon 6
2-1-1 iBeacon概述 6
2-1-2 iBeacon應用 8
2-1-3 iBeacon技術 11
2-2 訊號衰減 13
2-2-1 衰減效應 13
2-2-2 雜訊干擾 16
2-2-3 RSSI訊號衰減與距離 16
2-3 訊號過濾器 18
2-3-1 均值過濾器 18
2-3-2 中值過濾器 19
2-3-3 移動平均過濾器 19
2-3-4 高斯過濾器 20
2-3-5 卡爾曼過濾器 20
2-4 定位技術 22
2-4-1 範圍基礎定位方法(Range-based) 23
2-4-2 接收訊號強度測距法(RSSI) 25
2-4-3 到達時間測距法（Time Of Arrival，TOA） 27
2-4-4 到達時間差測距法（Time Difference Of Arrival，TDOA） 27
2-4-5 角度到達測距法（Angle Of Arrival ，AOA） 28
三、 研究方法 30
3-1 系統設計流程 30
3-2 定位設計方法 30
3-2-1 座標距離轉換模型 32
3-3 訊號過濾器設計 34
3-3-1 移動中值過濾器設計方法 35
3-3-2 移動平均過濾器設計方法 35
3-3-3 高斯過濾器設計方法 36
3-3-4 1-D卡爾曼過濾器設計方法 36
3-3-5 混合過濾器設計方法 38
3-4 球洞距離轉換方法 39
3-4-1 RSSI測距模型 39
3-4-2 果嶺球洞距離計算 42
四、 系統實作 43
4-1 系統架構 43
4-1-1 果嶺定距 43
4-1-2 資料流程 44
4-1-3 系統流程 45
4-2 系統平台相關技術 45
4-2-1 Xcode & Swift 46
4-2-2 Tornado & Python 46
4-2-3 MariaDB 47
4-3 實驗設備 47
4-3-1 iBeacon開發套件 47
4-3-2 iPutting應用程式 48
4-4 實驗場景與結果 49
五、 結論與未來展望 61
參考文獻 63

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