Research Of Key Technology Of Indoor Positioning Based On Wlan And Inertial Navigation

As people spend more time active and living in indoor environment,people put forward new requirements for location-based services and application scenarios.People require the navigation system can be used in indoor scenes,which brings the development,new opportunities and challenges for positioning technologies.In recent years,the research of indoor positioning technology has attracted wide attention in the academic community,and it has a wide range of application prospects in such fields as personnel positioning tracking,asset management,security and rescue,and retail sales of goods.Due to the complex propagation characteristics of indoor wireless signals,the positioning accuracy of indoor positioning systems based on wireless signals is limited,and the wireless signal positioning technology cannot meet the dual requirements of low cost and high accuracy at the same time.In this paper,based on the background of personnel positioning and navigation in the field of indoor positioning,the indoor positioning system based on WLAN and inertial navigation is studied separately,and the positioning system is experimented and verified in typical indoor scenes such as ordinary family,an office area,and a scientific research building.In this paper,the indoor location system based on WLAN is first studied,the indoor location is achieved by using channel state information(CSI).On the basis of this,for the defects that multipath fading and frequency selective fading of wireless signals are difficult to eliminate,the time domain and frequency domain processing and data screening methods of CSI are studied.For the establishment of indoor propagation model,the environment in the propagation model is studied.The method of determining the environment factor and path loss factor are studied,based on the estimation of the bias in the position estimation,the map matching algorithm is studied.Although the CSI-based indoor positioning technology can mitigate the effect of signal multipath fading and frequency selective fading on the positioning accuracy,there are still problems that the positioning accuracy is degraded due to environmental factors.Therefore,this paper makes an in-depth study of the inertial navigation indoor positioning technology.For the initialization of the inertial navigation system,the establishment of the rotation matrix is studied.For the accumulated error of the inertial navigation system,the data fusion algorithm is studied to correct the error.For the deviation of the track estimation of the inertial navigation system,the use of map information is studied.The map matching algorithm that corrects the track deviations which will improve the positioning accuracy of the basic inertial navigation system.The research and implemented of the WLAN-based indoor positioning system shows that the positioning error is within 1.6 meters;the research and implemented of the inertial navigation based indoor positioning system can continue estimate the trajectory of the target to be measured,the trajectory error is within 1 meter.Experiments have verified that an indoor positioning system based on WLAN and inertial navigation can estimate the position of the measured target in a typical indoor scene with high accuracy.