High-precision indoor positioning method based on WiFi-PDR fusion

Abstract

The invention discloses a high-precision indoor positioning method based on WiFi-PDR fusion. The method comprises the following steps: acquiring environment beacon data; matching a pre-established position-received signal strength fingerprint database to obtain initial positions of a plurality of targets; according to the reference path loss coefficient and an ITU model, calculating to obtain a weight coefficient of each AP, and calculating a coarse position of the target; collecting a course angle and an acceleration value of the target; smoothing the original acceleration value data to reduce noise interference; dynamically setting state conversion parameters according to noise reduction data collected in real time, and calculating the step number of a target; according to a non-linear step length estimation method, calculating the single step length of the target; and performing fusion calculation through an adaptive unscented particle filtering algorithm to obtain accurate motion state information of the target. According to the method, the WiFi fingerprint positioning precision is improved, the error accumulation effect of the PDR method is reduced, the WiFi-PDR fusion positioning method is optimized, the positioning continuity and stability are improved, and indoor positioning is more accurate and effective.

Description

technical field [0001] The invention relates to the field of signal processing and information fusion, in particular to a precision indoor positioning method based on WiFi-PDR fusion. Background technique [0002] Thanks to the development of information technology, positioning technology has been widely used in industry, scientific research, business and other fields. High-precision indoor positioning technology plays an important role in both production and life as well as national defense and military affairs, and has a broad development prospect. However, due to the relatively closed indoor space and the complex environment, outdoor positioning and navigation methods such as the global positioning system have problems such as easy signal attenuation and serious degradation indoors, which cannot meet the accuracy requirements of indoor positioning. [0003] At present, there is no single wireless positioning technology that can meet the requirements of accurate positioni...

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Problems solved by technology

[0007] Aiming at the defects of the prior art, the purpose of the present invention is to provide a high-precision indoor positioning method based on WiFi-PDR fusion, aiming at solving the problems of WiFi fingerprint positioning data fluctuations and PDR positioning errors accumulating over time, and the existing existing Some WiFi-PDR fusion positioning technology is not stable enough

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