Indoor Location Method of WiFi / PDR Fusion Based on Extended Kalman Filter Fusion

Abstract

This paper proposes an indoor positioning method based on extended Kalman filter WiFi-PDR fusion, which aims to improve the accuracy and stability of indoor positioning. In this method, the mobile terminal collects the WiFi fingerprint location information and establishes the fingerprint database. At the same time, using the accelerometer, gyroscope and magnetometer in the mobile terminal, the walking state of the pedestrian is judged by adjusting the dynamic threshold, and the direction detection is completed. After that, adaptive Kalman filter is used to integrate the WiFi location system and the PDR location system to update the user’s location. The results show that the scheme reduces the accumulated error of PDR positioning to a certain extent, and improves the continuity and stability of WiFi Positioning. Therefore, the scheme we propose can effectively improve the positioning accuracy.