Indoor positioning method integrating geomagnetic field and wifi signal
An indoor positioning and geomagnetic field technology, applied in positioning, ground navigation, wireless communication, etc., can solve the problems that indoor positioning technology cannot obtain positioning accuracy, anti-interference methods do not make full use of effective positioning information, and add complex anti-electromagnetic interference equipment, etc.
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[0035] As a specific embodiment, the indoor positioning method of the fusion of geomagnetic field and WIFI signal of the present invention comprises the following steps:
[0036] Step 1: In the WIFI environment, collect the WIFI signal and the geomagnetic signal of each sampling point, normalize the WIFI signal and the geomagnetic signal of each sampling point, so that the value range is in the same interval, and the same sampling point The normalized WIFI signal and the geomagnetic signal are combined into a normalized mixed fingerprint vector;
[0037] Step 11: Take uniform sampling at intervals in the room, and record each sampling point P i (i=1,2,3,...,N, N is a positive integer), latitude and longitude coordinates, M WIFI MAC IDs (physical address of the wireless network card, M is a positive integer), m WIFI signal strength x i (i=1,2,3,...,m, m is a positive integer and m≤M), the strength of the geomagnetic field b i Three components in X, Y, Z directions (b i x,b ...
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