基于WiFi RSSI三边定位和INS传感器融合系统仿真的室内定位

Proceedings of the 2019 2nd International Conference on Sensors, Signal and Image Processing Pub Date : 2019-10-08 DOI:10.1145/3365245.3365261

Abdelrahman El-Naggar, A. Wassal, K. Sharaf

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引用次数: 10

摘要

室内定位在许多定位应用中都是必需的，例如导航、自主机器人运动和资产跟踪。本文提出了一种基于WiFi RSSI定位与惯性导航系统(INS)融合的室内定位方法。仅使用WiFi定位受室内通信环境的影响，会使RSSI信号失真，且独立使用INS解决方案长期性能下降，本文采用卡尔曼滤波器(KF)将RSSI信号与INS数据融合滤波，使定位结果更加准确，平均距离误差为0.6m。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Indoor Positioning Using WiFi RSSI Trilateration and INS Sensor Fusion System Simulation

Indoor positioning is needed in many localization applications such as navigation, autonomous robotic movement, and asset tracking. In this paper, an indoor localization method based on fusion of WiFi RSSI positioning and inertial navigation system (INS) is proposed. Using WiFi positioning only is affected by the indoor communications environment that distort the RSSI signals, also using INS standalone solution has very degraded long-term performance, a Kalman filter (KF) is adopted in this paper to fuse and filter the RSSI signals with the INS data to have more accurate positioning results with average distance error of 0.6m.

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Proceedings of the 2019 2nd International Conference on Sensors, Signal and Image Processing

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