Multi-source fusion indoor positioning system and method based on adaptive periodic particle filtering

Abstract

The invention discloses a multi-source fusion indoor positioning system and method based on adaptive periodic particle filtering, and the method comprises the steps: step 1, laying Bluetooth beacons in an indoor environment, receiving broadcasts from more than three Bluetooth beacons through a mobile terminal, and uploading received Bluetooth beacon IDs and corresponding signal value intensity RSSI to a server; step 2, acquiring a numerical value of a built-in sensor of the mobile terminal, determining a stepping direction, a walking direction and a step length, and locally carrying out pedestrian dead reckoning PDR positioning on the mobile terminal; step 3, according to the received signal value strength RSSI, converting the signal value strength RSSI into a distance through a signal strength attenuation model so as to carry out trilateral positioning; and fusing the RSSI positioning result and the PDR positioning result, constructing an adaptive periodic particle filter multi-sourcefusion model, obtaining a final positioning result, and sending the final positioning result to the mobile terminal. According to the invention, the precision of the positioning result after adaptiveperiodic particle filtering fusion is higher, and the fusion time delay is reduced compared with the traditional particle filtering.

Description

technical field [0001] The invention relates to the application field of the Internet of Things, in particular to a multi-source fusion indoor positioning system and method based on adaptive periodic particle filtering. Background technique [0002] Since the traditional positioning signal source GPS cannot be used in indoor environments, other positioning sources need to be sought for indoor positioning. At this stage, the signal sources that can be used for indoor positioning include WiFi, Bluetooth, infrared, ultra-wideband, ultrasonic, RFID, etc. Due to the intricate and changeable indoor environment, it will lead to many problems such as non-line-of-sight propagation of positioning signals, multipath effects, and shadow fading. Therefore, there are many difficulties in realizing high-precision indoor positioning, and indoor positioning through a single positioning source has problems such as environmental limitations and low accuracy. Through the method of multi-sourc...

AI Technical Summary

Problems solved by technology

However, many high-precision indoor positioning algorithms are at the expense of time delay, which makes it difficult for these indoor positioning algorithms to be used in indoor positioning scenarios that require high real-time performance.

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