The Design Of Indoor Location System Based On Inertial Navigation And RSSI Position

For the existing indoor location,the transmission signal of the wireless is easy to be affected by occlusions,and it has problems with poor stability.The inertial navigation exists accumulation of errors and some other issues,it also need higher performance processor.This article focuses on the design of indoor location system based on inertial navigation and RSSI position,elaborates on the system's hardware,software design and the relevant interface circuit specification.The system gets the location information of the inertial navigation by collecting the carrier's movement information,and gets the location information of the wireless signal by RSSI wireless location based on beacon node.The combination of the two methods achieves the precise location of the carrier.The article proposes the fusion algorithm based on the inertial navigation and RSSI wireless location.It makes the position information of the inertial navigation and the RSSI wireless affect the location information of the carrier together.In this way,it improves the accuracy of indoor location.And it solves the problem that the inertial navigation need higher performance processor.For the error of the random constant integration,it uses the correction algorithm based on angular velocity difference to get the direction information.The Proposed correction algorithm base on angular velocity difference uses the acceleration,angular velocity and magnetic data to calculate the direction information of the carrier.It improves the precision of the carrier's location information.Experimental results show that the correction algorithm based on angular velocity difference can effectively increase the accuracy of the angle accuracy to 0.83°,improving by 59.51% compared to the complementary filter.The fusion algorithm based on the inertial navigation and RSSI wireless location increases the indoor position accuracy to 0.23 m,improving by 76.29% compared to the single use of the inertial navigation.