Indoor dynamic continuous positioning method fusing smartphone built-in sensor and Wi-Fi (Wireless Fidelity)

Abstract

The invention discloses an indoor dynamic continuous positioning method fusing a smartphone built-in sensor and Wi-Fi (Wireless Fidelity). The method comprises the following steps: (1) motion mode identification: smart mobile electronic terminal equipment identifies various motion states of indoor pedestrian through a fused multi-source sensor; (2) improved Wi-Fi positioning: algorithm improvement is made specific to signal characteristics of the motion states in order to improve Wi-Fi positioning performance in the motion states; (3) PDR (Pedestrian Dead Reckoning) positioning: dead reckoning is performed on the indoor pedestrian to obtain position estimate, and a confidence region is established in conjunction with the motion states; (4) trust chain positioning fusion (TCPF): trusted point decision is made through the confidence region and a Wi-Fi positioning result, a confidence locking mechanism of dynamic continuous positioning is established through a finite state machine, and finally, two positioning estimated positions are fused dynamically to obtain optimal positioning position estimate. By adopting the method, the influence of Wi-Fi signal instability during motion on positioning performance is lowered, the problem that positioning errors accumulate over time is solved, and the accuracy and stability of indoor dynamic continuous positioning are improved.

Description

technical field [0001] The invention belongs to the field of electronic positioning, and in particular relates to an indoor dynamic continuous positioning method in which built-in sensors of smart phones are integrated with Wi-Fi. Background technique [0002] Existing indoor positioning technology is divided into wide-area indoor positioning technology and local area indoor positioning technology. Wide-area indoor positioning technology is mainly realized by transforming communication base stations, and smart phones need to add hardware chips, which is costly and difficult to popularize; local area indoor positioning technology The mainstream technology of positioning technology is based on Wi-Fi fingerprint positioning technology. Limited by the problem that Wi-Fi signals are susceptible to interference and fluctuations, the existing Wi-Fi positioning technology solutions will combine multiple sensor data for indoor positioning to improve indoor positioning accuracy and st...

AI Technical Summary

Problems solved by technology

[0003] The algorithm fusion process based on particle filter is intuitive and effective, but it has a large amount of calculation, so it is not suitable for handheld devices; the algorithm based on Kalman filter has better real-time performance, but the algorithm is based on the fusion of positioning results. In the case of large fluctuations in interference, the positioning results are prone to drift; the cross-assistance algorithm is a newly proposed fusion algorithm that goes deep into the Wi-Fi positioning process, but the current algorithm is not perfect, and some error loops are prone to occur

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