Indoor positioning method based on WiFi, Bluetooth and pedestrian dead reckoning fusion

An indoor positioning and dead reckoning technology, which is applied to services based on location information, services based on specific environments, electrical components, etc., can solve problems such as precise positioning of inertial systems, gait judgment errors, and walking distance errors

Inactive Publication Date: 2020-11-20
GUILIN UNIV OF ELECTRONIC TECH
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  • Claims
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AI Technical Summary

Problems solved by technology

However, because the electronic compass is easily disturbed by the environment, it will lead to a deviation in the heading angle, and the gait judgment error and the step size estimation error will lead to the walking distance error, and the resulting cumulative error will cause the inertial system to be unable to perform accurate positioning for a long time. How to effectively Elimination of cumulative errors becomes the key to problem solving

Method used

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  • Indoor positioning method based on WiFi, Bluetooth and pedestrian dead reckoning fusion
  • Indoor positioning method based on WiFi, Bluetooth and pedestrian dead reckoning fusion
  • Indoor positioning method based on WiFi, Bluetooth and pedestrian dead reckoning fusion

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Embodiment

[0059] refer to figure 1 , an indoor positioning method based on the fusion of WiFi, Bluetooth and pedestrian dead reckoning, comprising the following steps:

[0060] 1) Divide the positioning area and establish a WiFi offline fingerprint database: Divide the area to be located into N mesh nodes, calculate the actual position of each node, and arrange M AP nodes in the area to be located to launch WiFi hotspots and collect N From the received signal strength RSSI of each AP node in a mesh node, obtain the RSSI training sample, correspond to the RSSI training sample and its actual position, set up the WiFi offline fingerprint database, the number set of the described training sample is expressed as:

[0061] I={(RSSV 1 ,o 1 ),(RSSV 2 ,o 2 ),...,(RSSV i ,o i ),...,(RSSV N ,o N )}

[0062] where the vector RSSV i =(RSS i1 ,RSS i2 ,...,RSS iM ) represents the RSSI vectors from M WiFi hotspots, the position vector o i =(x,y)∈R 2 Indicates RSSV i The position corresp...

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Abstract

The invention discloses an indoor positioning method based on WiFi, Bluetooth and pedestrian dead reckoning (PDR) fusion, and the method is characterized in that the method comprises the following steps: 1) dividing a positioning region, and building a WiFi offline fingerprint data 2) clustering the training samples to obtain a centroid-like vector; 3) adopting a hierarchical clustering algorithm to obtain positioning coordinates; (4) achieving Bluetooth positioning by adopting an improved weighted centroid algorithm, (5) obtaining a WiFi and Bluetooth fusion positioning coordinate by fusing WiFi and Bluetooth positioning, and (6) obtaining a final positioning coordinate in combination with PDR. The method has the characteristics of high positioning precision and low software calculation amount, and can meet the real-time positioning precision requirement.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to an indoor positioning method based on fusion of WiFi, Bluetooth and pedestrian dead reckoning. Background technique [0002] With its all-weather, high-precision, high-efficiency and multi-functional features, GPS positioning technology has been widely used in all walks of life, bringing great convenience to our daily life, and the maturity and wide application of outdoor positioning technology has also promoted The research and development of indoor positioning. [0003] According to statistics, people spend about 70%-80% of their time indoors on average, location-based services (LBS) are gradually becoming familiar to the public, and the importance of indoor positioning is becoming more and more significant. Currently mainstream indoor positioning technologies include infrared positioning technology, ultrasonic positioning technology, ultra-wideband positioning tech...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W4/33H04W4/021H04W64/00
CPCH04W4/023H04W4/33H04W4/021H04W64/006
Inventor 钟艳如高宏赵蕾先袁志翔甘才军李一媛罗笑南
Owner GUILIN UNIV OF ELECTRONIC TECH
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