基于MIMU/WiFi指纹组合室内定位系统的研究

Research on Indoor Location System Based on MIMU/WiFi Fingerprint Combination

微惯性导航系统定位是一种自主定位的方法,不会受到外界环境因素的干扰,这种定位方法具有短时间定位精度高且该定位方法适用于测定高速运动的物体,但缺点是长时间工作,定位误差会随时间积累变大;WiFi指纹室内定位技术,该系统适用于室内低速运动物体的定位且单点定位精度高,系统的实时性不高且依赖于定位区域内的基站分布.分析两个定位系统优劣特性,提出一种用集中式卡尔曼滤波闭环校正方法将两个定位系统进行融合构成组合定位系统,可以实现优势互补,在MATLAB进行仿真,验证MIMU/WiFi指纹组合室内定位系统可以进一步提高室内定位系统的精度.

MIMU is an autonomous positioning method, which is not disturbed by exter nal environmental factors. This fixed location method has a high precision in short timeloca tion and the location method is suitable for measuring high speed objects. But the disadvan tage is that the location error can accumulate with long time. The system of WiFi fingerprint indoor positioning technology, is suitable for indoor low speed moving objects positioning and single point positioning precision high, the system is not high real time and depends on the location of the base station distribution. The advantages and disadvantages of the two positioning systems are analyzed. A centralized Caiman filtering closed loop correction meth od is proposed to combine the two positioning systems into a combined positioning system, which can achieve complementary advantages. The simulation is carried out in MATLAB, and the MIMU/WiFi fingerprint combination indoor positioning system can be verified to further improve the precision of the indoor positioning system.