The invention discloses a Wi-Fi-based indoor positioning navigation method. The Wi-Fi-based indoor positioning navigation method includes an acquisition stage, an online positioning stage and a navigation stage. According to the acquisition stage,
RSS fingerprint information which is acquired from reference points in the same direction is clustered through an
affinity propagation clustering
algorithm, so that different classes and class leaders can be formed, and a
fingerprint database can be established and is stored in a
server. According to the online positioning stage, a handheld terminal receives the
RSS fingerprint information and sends the same to the
server; the
server performs class matching on the received
RSS fingerprint information and fingerprint information of the server; a fingerprint graph matrix is formed according to a matched class leader set and is transmitted to the handheld terminal for precise positioning;
norm minimization processing and corresponding weighing are performed on rough positioning information through using an improved
compressed sensing model; and the positioning of coordinates can be completed. According to the navigation stage, a shortest path is searched through utilizing a
quantum cellular
ant algorithm; and a position is tracked and navigated in real time through using Kalman filtering
system. The Wi-Fi-based indoor positioning navigation method of the invention has the advantages of simple algorithms, small
workload of affine clustering and matching, short
response time and small positioning error.