The Usage of Extended Kalman Filter to Increase Navigation Accuracy of Mobile Units in Closed Spaces

This paper presents a navigation system for confined spaces. The system identifies the location of the mobile device by connecting INS (Inertial Navigation System) data with RSSI (Received Signal Strength Indicator) data. The navigation system uses two types of data: the data obtained from the INS is more accurate over a short period of time, but the probability of error increases over time, at which point the RSSI based position area estimate is considered limited positioning accuracy. As a result, the Kalman filter has improved the accuracy of the system. The concept of building an indoor navigation system using data from a Wi-Fi wireless network is considered, the algorithms,mechanisms, and technological aspects of the system implementation are described, and the implementation of such a system is demonstrated. Algorithms of internal navigation systems are proposed. The system has been implemented and tested with promising results.