A Combined PDR and Wi-Fi Trilateration Algorithm for Indoor Localization

Indoor localization using Wi-Fi or pedestrian dead reckoning (PDR) has several limitations in terms of Wi-Fi signal fluctuations and PDR drift errors. To overcome these limitations, we propose a sensor fusion framework for Wi-Fi and PDR systems. The proposed sensor fusion will overcome the PDR drift errors by analysing the Wi-Fi signal strength and the PDR results will compensate the Wi-Fi signal fluctuations. Based on the experiments conducted, results show that the proposed fusion indoor positioning algorithm shows high position accuracy over Wi-Fi localization and PDR systems when used independently. Our proposed combined position estimation algorithm achieves an improved average localization accuracy of 1.6 m when compared to the Wi-Fi and PDR systems when used independently.