The invention belongs to the technical field of
mobile wireless positioning, and particularly relates to a
Bluetooth and UWB fusion positioning method and
system based on Kalman filtering, and the method comprises the steps: taking a UWB
distance measurement value and a distance converted by a
Bluetooth signal distance conversion model as an observation vector through combining the low
power consumption characteristic of a
Bluetooth signal and the high precision
advantage of UWB; according to the real-time position of a detected target, a
Kalman filtering algorithm (
Kalman filtering algorithm) is adopted to carry out data fusion
processing, so that real-time positioning of an observation target is realized. According to the
algorithm, a positioning service area is divided into a high-precision positioning area, a common-precision positioning area and a connection area according to the positioning precision requirement, and UWB positioning
anchor point equipment and BLE positioning
anchor point equipment are arranged in different positioning areas at the same time. And an indoor fixed person navigation positioning model is formed by adopting UWB and BLE
pedestrian navigation constraints for the connection area, so that the requirements of relatively high precision and relatively low cost are met.