移動物體的追蹤在許多應用中是不可或缺的，例如行李自動追蹤和生物追蹤。基於地標的追蹤方法通常面臨著地標部署成本與所選無線技術準確性之間的權衡。在本文中，我們提出了一種基於低功耗藍牙（BLE）的移動物體追蹤系統，該系統使用配備多個天線的移動地標。低功耗藍牙的短訊號覆蓋範圍被地標的移動性所克服。在追蹤系統中，我們通過SVM模型識別的多天線的RSSI特徵來估計AoA和目標到移動地標的距離。然後，移動地標的追蹤策略是以目標的估計相對位置為基礎。我們在EcoBT和MediaTek LinkIt ONE開發板上實現了提出的系統。實驗結果顯示，在解析度為15度時，AoA的平均誤差小於1度，在解析度為0.5公尺時，距離的平均誤差小於0.1公尺。我們進一步進行了移動目標追蹤的實驗，以顯示所提出的系統的有效性。我們還觀察到，在移動目標追蹤中存在準確度和追蹤速度之間的權衡。

Moving object tracking is essential in many applications, such as self-tracking luggage and insect tracking. Landmark-based tracking methods usually face the tradeoff between cost in landmark deployment and accuracy of chosen wireless technology. In this thesis, we propose a Bluetooth Low Energy (BLE)-based moving object tracking system using moving landmarks equipped with multiple antennas. The short signal coverage of BLE is overcome by the mobility of landmarks. In the tracking system, we estimate the angle of arrival (AoA) and the distance from the target to the moving landmark by the pattern of RSSIs of multi-antennas recognized by the trained SVM model. The tracking strategy of the moving landmark is then based on the estimated relative location of the target. We implemented the proposed system on EcoBT and MediaTek LinkIt ONE development boards. The experiment results showed that the average error of AoA is less than 1 degree at the resolution of 15 degrees and the average error of distance is less than 0.1 m at the resolution of 0.5 m. We further conducted experiments on moving target tracking to show the effectiveness of the proposed system. We also observed that there exists a tradeoff between accuracy and tracking speed in moving target tracking.

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