隨著科技的進步，人力資源成本的提高，自動化設備、智慧型機器人的應用早已成為各家廠商、公司的研發重要方向之一，而其中室內機器人的應用如:家庭清掃、老人照護、居家保全、人機互動等是最為常見，但由於室內環境多樣性高且不固定，現今多數室內機器人都是以閃避障礙的方式來隨機移動，難以有更多元、高階的應用。
本篇論文將以輪型機器人為實驗載具，基於載具運動模型推導其狀態方程式，使用馬達編碼器及慣性感測器之量測資訊來做航位推算(Dead reckoning)，以估測自身位置。此外使用超寬頻無線感測器網路(WSN)模組來測得機器人與環境相對應距離，將其量測值用最小平方法遞迴運算(RLS)可得載具在環境之相對位置。我們使用擴展式卡爾曼濾波器(EKF)整合所有感測器資料，藉此可以有效減少狀態方程所造成的累積誤差，此外建立無線測距量測值的挑選機制，剔除誤差過大之量測而得到較佳的修正量及位置，最後利用同步定位與建圖(SLAM)的概念來建立環境特徵位置。
本論文使用之無線測距模組為DecaWave公司所推出之TREK1000 Evaluation Kit，搭配其公司DW1000晶片的超寬頻(UWB)技術應用，可說是目前極為精準之無線定位模組，我們將在室外及室內分別做定位實驗以測試其性能表現。

Tech advances while the cost of human resources is gradually increasing as time goes by. Automation machine and intelligent robot application are not only important but inevitable for many places in the future. Meanwhile there are lots of company and factory working on it as one of their main development product.Nowadays we can find indoor robot with functions of cleaning, caring and guarding on the market, it usually move randomly with obstacle detection due to the complexity environment indoor. The robot application will be limited if that could not be solved.
In this thesis we use a two wheel robot to do our experiment. Base on robot dynamic model to derive state equation and getting data form encoder and motion sensor we can do the DR(Dead Reckoning)to predict self-position. Furthermore, using measurement equation and ranging sensor data to do RLS(Recursive Least Square), so that we get self-position relative to current environment. We intergrate all the data into EKF(Extended Kalman Filter), it helps to decrease the accumulate error caused by DR. On the other hand, set the threshold of ranging data could drastically improve EKF result. In the end, by using the concept of SLAM, we build feature position in the environment.
The ranging sensor we used here is called Trek1000 Evaluation Kit which made by DecaWave. It is a highly accuracy module compare to others because of its DW1000 chip and UWB(Ultra wideband) technique on it. Here we set indoor and outdoor experiment to examine the performance and discuss pros and cons.

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