針對視障者的定位應用，本論文提出了一個在導盲手杖上整合慣性感測器，依照方位推估法(Dead-Reckoning)來實現定位的應用，然而此導盲手杖上之慣性感測器有累積誤差的弊病，因此結合超音波測距感測器來進行誤差修正、環境感知及定位方法的可行性分析。最後也進行了同時定位與環境地圖建置技術（Simultaneous Localization And Mapping , SLAM）的分析模擬。

為了有效達成延續定位功能、提高定位精度的目標，本論文並針對導盲手杖的運動特性，提出特定姿態實現修正感測器的機制，有效抑制感測器的飄移與誤差的累積。在使用的感測器方面，預期使用加速規、陀螺儀等搭配超音波測距器，以設計適當的定位方法。

經由實驗的驗證，所設計的導盲手杖確實能將使用者的路徑建構出來，而且誤差也在容許的範圍內，本論文成果提高了白手杖的功能與使用價值，可讓視障者擁有行動自主的能力與建構出電子的「心理地圖」（mental map），因此對於視障者有不少的幫助。其他對於超音波測距定位方法及低價位的MEMS 感測器的相關應用也有研究參考的價值。

The purpose of this study is to design a device that can help vision impaired people know the location where they are. The device uses Inertial-sensor and Dead-Reckoning technologies in white cane to realize this objective. In order to avoid the accumulation of error on Inertial-sensors, Ultrasonic range sensor are used on the white cane to correct this kind of error. This designed cane detects the environment and helps the user to locate himself. In addition, Simultaneous Location And Mapping, ( SLAM ) technology is studies to be used in the design .

In order to reach the goal of continual locating while receiving the accurate data, this study investigates the motion characteristic of white cane and propose solutions that can calibrate the sensors at some specific instances during the motion. This measure can control the bias of sensor effectively and avoid the accumulation of error. Moreover, Accelerometer and Gyroscope sensors are used to design a proper way of locating.

Based on the result of this study, the designed cane can not only detect the route exactly, but also reduce the error into identified error margin as well. This result will let those vision impaired people walk much more safely and build a mental map for them. This study both extends the application of the white cane successfully and provides an example to those who want to investigate the Ultrasonic range sensor or MEMS sensor applications further in this field .

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