Research And Implementation Of Indoor Positioning Algorithm Based On The Joint Of Wavelet And Kalman

With the wide use of the Internet,location based service has brought great convenience to people's lives,making the information of location an indispensable basic information in social life.This paper is supported by the project of "The key technology and application of location based service in meter level for the public".In order to solve the problem of high precision positioning,the research on the suppression of the non-line-of-sight error and the algorithm of the indoor fusion positioning is carried out,based on the theory of wavelet transform and Kalman filter.The main contents of this paper are as follows:Firstly,in order to solve the problem that the non-line-of-sight error seriously affects the positioning result,a scheme of non-line-of-sight error compensation based on fingerprint filtering is proposed.The over-delay characteristic of non-line-of-sight error is analyzed.Then,on the basis of eliminating NLOS error through filtering,the method of wavelet threshold de-noising is improved and a new Kalman filtering algorithm based on wavelet preprocessing is proposed.The wavelet analysis is used to pre-process the data for eliminating the modeling error of Kalman filter to the greatest extent in practical application.As a result,the algorithm can be used to filter the fingerprint for the scheme of non-line-of-sight error compensation which eliminates more than 90%of NLOS error,laying the foundation for subsequent positioning.Secondly,in order to solve the problem of location ambiguity and robustness in TDOA positioning algorithm,a dynamic weighted indoor fusion positioning algorithm based on TDOA/RSSI is proposed.The RSSI ranging model in the current environment is studied,and the traditional RSSI positioning algorithm is improved.Then,the initial position is provided by RSSI positioning to solve the problem of divergence of the result of Taylor series expansion method for solving TDOA positioning equation.So the overall scheme and process of weighted fusion positioning are designed.Through two data fusion,it improves the positioning success rate and positioning accuracy of the whole positioning system.As a result,the positioning success rate is increased by 16.5%and the positioning accuracy is improved by 14.3%.Thirdly,the intelligent positioning terminal is designed and implemented to accomplish the scheme of the NLOS error compensation and the indoor fusion positioning.This paper expounds the whole system architecture of intelligent terminal,and the hardware design and software design are introduced in detail.The intelligent positioning terminal is applied in practical engineering,which validates the two schemes studied in this paper,and shows the indoor positioning effect in meter level.