High-precision three-dimensional indoor positioning method based on multi-source fusion

Abstract

The invention discloses a high-precision three-dimensional indoor positioning method based on multi-source fusion, and the method comprises the steps: deploying a Wi-Fi environment in a to-be-positioned region, collecting a Wi-Fi signal intensity value RSSI, and building a Wi-Fi offline fingerprint database; acquiring an RSSI value of a Wi-Fi signal at an online stage, and realizing Wi-Fi positioning by improving a weighted centroid positioning algorithm; deploying bluetooth equipment in a to-be-positioned area, collecting Bluetooth RSSI values, and achieving bluetooth positioning by improvinga weighted centroid positioning algorithm; achieving Wi-Fi and Bluetooth fusion positioning through average weighting; matching an acceleration sensor result by utilizing the step length model, and carrying out PDR positioning; fusing the Wi-Fi, bluetooth and PDR through a UKF algorithm to obtain a two-dimensional positioning coordinate; utilizing a barometer to measure height and judge floors toobtain a height value in the vertical direction; and fusing the two-dimensional positioning coordinates and the height value in the vertical direction to obtain three-dimensional position coordinates. Accurate positioning is achieved in the horizontal direction, high positioning accuracy is achieved in the vertical direction, and accurate three-dimensional position service can be provided for a user.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to a high-precision three-dimensional indoor positioning method based on multi-source fusion. Background technique [0002] With the rapid development of the location-based service industry, people's demand for location-based services has increased. At present, relatively mature GPS and Beidou positioning only support outdoor positioning. All aspects need to be improved. Mainstream indoor positioning technologies include Wi-Fi positioning, Bluetooth positioning, PDR positioning, ultra-wideband positioning, and geomagnetic positioning. Various positioning technologies have different advantages and disadvantages due to different positioning methods. Table 1 shows the advantages and disadvantages of several mainstream indoor positioning technologies. pros and cons. [0003] Table 1 Comparison of different indoor positioning technologies [0004] [0005] Wi-Fi position...

AI Technical Summary

Problems solved by technology

Whether it is Wi-Fi, Bluetooth Beacon or PDR, because the indoor and outdoor environments are different, the indoor environment is relatively complex, and the characteristics of different places are completely different. At present, a single technology cannot meet the needs of accuracy, deployment, and cost at the same time. Fusion Positioning will definitely become the development direction of indoor positioning

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