High-precision indoor fusion positioning method based on GSM/MEMS fusion

• Main Authors: WANG XIANGYONG, SHU YUEYUE, LIU YIYAO
• Format: Patent
• Language: Chinese; English
• Published: 24.11.2017
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses a high-precision indoor fusion positioning method based on GSM/MEMS fusion. The method comprises the following steps: first, performing position fingerprint positioning by adopting searching and matching by utilizing position fingerprint characteristics caused by multipath and non-line-of-sight transmission of a GSM radio signal; then, resolving the walking speed and the course angle of a target pedestrian according to output data of an inertial sensor device, and obtaining relative position information of a user; finally, fusing position results output by the GSM and the MEMS by utilizing an anti-tolerance extended Kalman filter. According to the method, a position fingerprint positioning result in a GSM environment and the output data of the MEMS are combined by introducing the anti-tolerance extended Kalman filtering algorithm, so that the advantages of positioning systems compensate each other; the influence on positioning precision caused by an accumulative error in an MEMS device