Indoor fusion positioning method based on multi-features

Abstract

The invention discloses an indoor fusion positioning method based on multi-features. The whole process of the method is divided into three parts such as Wi-Fi fingerprint probability calculation, inertial navigation calculation and particle filtering fusion, wherein the Wi-Fi fingerprint probability calculation uses a cosine similarity matching algorithm, the inertial navigation calculation is divided into three parts such as step number calculation, step size calculation and walking direction estimation, the step number calculation uses methods such as walking detection, center moving equating, window wave peak detection, dynamic time regularization, derivative analysis filtering and wave peak resurrection, the step size calculation uses a step size and step frequency relationship model, the walking direction estimation uses the time and frequency zone analysis of a horizontal direction acceleration and strategy adjusting based on a gravity direction, and finally in the particle filtering fusion part, the hidden markov model constructed based on the inertial navigation and the Wi-Fi fingerprint probability uses the particle filtering method and combines with the map information to calculate the position probability so as to finally obtain the positioning result.

Description

technical field [0001] The invention relates to an indoor fusion positioning method based on multiple features. Background technique [0002] At this stage, indoor positioning technologies are very diverse, such as camera positioning, infrared positioning, magnetic field positioning, WIFI positioning, Bluetooth positioning, inertial navigation system positioning, ultrasonic positioning and so on. According to different hardware support, there are also different measurement methods. For example, in radio wave positioning, there are triangulation methods such as TOA, TDOA and AOA, as well as fingerprint matching measurement methods and so on. At present, the main problem of indoor positioning is that it is difficult to balance cost and accuracy at the same time, and many positioning methods require the deployment of additional positioning aids. However, Wi-Fi fingerprint positioning, as a common method for mobile terminal positioning, cannot provide high positioning accuracy...

AI Technical Summary

Problems solved by technology

At present, the main problem of indoor positioning is that it is difficult to balance cost and accuracy at the same time, and many positioning methods require the deployment of additional positioning auxiliary equipment

However, Wi-Fi fingerprint positioning, as a common method for mobile terminal positioning, cannot provide high positioning accuracy and stability.

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