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Adaptive Kalman filtering method oriented for WiFi/PDR indoor integrated positioning

An adaptive Kalman and internal fusion technology, applied in positioning, location information-based services, radio wave measurement systems, etc., can solve the problems of low WiFi single-point positioning accuracy and PDR cumulative error.

Active Publication Date: 2017-12-01
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0004] The purpose of the present invention is to provide an adaptive Kalman filter method for WiFi / PDR indoor fusion positioning, which can effectively solve the problems of low WiFi single-point positioning accuracy and PDR accumulation errors in the indoor environment. At the same time, the method can Track the path loss index of the propagation model in real time to enhance the stability of positioning performance

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  • Adaptive Kalman filtering method oriented for WiFi/PDR indoor integrated positioning
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  • Adaptive Kalman filtering method oriented for WiFi/PDR indoor integrated positioning

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Embodiment Construction

[0067] The present invention will be further described below in conjunction with accompanying drawing.

[0068] Such as Figure 1 to Figure 2 The shown adaptive Kalman filtering method for WiFi / PDR indoor fusion positioning includes the following steps:

[0069] Step 1. In the target area, the user's initial position X' is given 0|0 .

[0070] Step 2. The user receives the signal strength of the i-th AP (i=1,...,m, where m is the number of APs).

[0071] Step 3. Path loss model based on lognormal distribution Among them, A represents the reference distance d 0 The received signal strength at the place; η represents the path loss index; N 0 Represents environmental noise, subject to mean 0, variance σ 2 Gaussian distribution, calculate the distance between the user and each AP, where, d i Indicates the user and the i-th AP (that is, the AP i )the distance between.

[0072] Step 4. Known AP 1 ,...,AP m The position coordinates of (x 1 ,y 1 ),…,(x m ,y m ), and ...

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Abstract

The invention discloses an adaptive Kalman filtering method oriented for WiFi / PDR indoor integrated positioning. The method comprises: first, holding by a user a terminal device in a targeted area to receive the RSSI from each AP; in a lognormal distribution path loss model, using the weighted least squares method to obtain the location of the user and at the same time, through the estimation model in the PDR algorithm, obtaining the location of the user; then using the adaptive Kalman filtering to integrate the positioning information based on the propagation model with the positioning information from PDR for multiple times to obtain the best location of the user, wherein the adaptive Kalman filtering is reflected in the feedback mechanism, that is, each integration positioning result dynamically corrects the path loss index and other parameters of the weighted least squares method so as to ultimately make the propagation model more in line with the indoor environment. The method solves the problems of low positioning accuracy of only using the WiFi and of the cumulative errors existing in PDR under an indoor environment, and the method also can track the path loss index of the propagation model in real time and enhances the stability of positioning performance.

Description

technical field [0001] The invention belongs to indoor positioning technology, in particular to an adaptive Kalman filtering method for WiFi / PDR indoor fusion positioning. Background technique [0002] With the rapid development of mobile communication, LBS (Location Based Service) has received more and more attention. In indoor places (such as shopping malls, airports and underground parking lots, etc.), the existing outdoor positioning systems, such as GPS (Global Positioning System), due to the shelter of buildings and other facilities, it is difficult to achieve accurate positioning indoors. At the same time, due to the large-scale deployment of WLAN (Wireless Local Area Network) and the widespread popularity of WLAN high-speed wireless access, more and more people pay attention to positioning indoor users by using existing WLAN infrastructure. Among them, Indoor WLAN positioning technology based on received signal strength RSSI (Received Signal Strength Indication) is ...

Claims

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Application Information

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IPC IPC(8): H04W4/02H04W4/04G01C21/20G01S5/02G01S5/14
CPCG01C21/206G01S5/0294G01S5/14H04W4/023
Inventor 周牧耿小龙田增山卫亚聪唐云霞余箭飞杨露
Owner CHONGQING UNIV OF POSTS & TELECOMM
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