Indoor real-time fusion positioning based on PDR+BLE

doi:10.13474/j.cnki.11-2246.2023.0264

Abstract

Abstract: Indoor positioning technology is becoming a hot research topic in the field of ubiquitous navigation and positioning due to the blockage of navigation satellite signals indoors. PDR and BLE positioning are the common positioning means of inertial positioning and RF signal positioning, but PDR positioning is continuous and stable but has accumulated errors, while BLE positioning has no accumulated errors but has poor positioning accuracy. In this paper, PDR/BLE real-time fusion positioning is proposed to meet indoor positioning requirements in complex environments. Firstly, the improved algorithm of BLE proximity correction PDR is proposed for the problem of PDR error accumulation; then the adaptive robust PDR/BLE fusion positioning algorithm based on EKF is proposed for the problem of large coarse difference in BLE positioning.The results show that the BLE proximity correction PDR algorithm improves the localization accuracy by 19% and the EKF-based adaptive robust fusion positioning accuracy by 21% compared with the traditional algorithms, which have significant improvement in both positioning accuracy and stability.It will also have high applicability and scalability in the field of indoor positioning.

Key words: indoor positioning, PDR positioning, BLE positioning, extended Kalman filter, fusion positioning

CLC Number:

P228

XU Hao, WU Xue, LI Chunguang, BEI Jinzhong, CHEN Chong, LI Dehai. Indoor real-time fusion positioning based on PDR+BLE[J]. Bulletin of Surveying and Mapping, 2023, 0(9): 52-58.

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