Design And Implementation Of Indoor Positioning Tracking System Based On Bluetooth And Dead Reckoning

With the advent of the Internet age,the demand for accurate navigation and positioning has been more and more popular.In the outdoors,the accuracy of meter-level error can be achieved through GPS.However,due to the blockage of satellite signals by the building in the room,the GPS cannot be accurately located indoors.Therefore,various indoor positioning technologies have become a research hotspot.Among them,Bluetooth positioning technology and Dead Reckoning technology have been sought after by people due to their low cost and high popularity.However,Bluetooth positioning technology and Dead Reckoning technology have their own drawbacks.When the indoor environment is complex,the volatility of Bluetooth positioning increases and the error increases.Although the Dead Reckoning technique is not affected by the indoor environment and has good stability,it has problems of inability to determine the initial position,and there will be cumulative errors after long-term positioning.In order to solve the above problems,a complementary filter algorithm is implemented to fuse Bluetooth positioning and Dead Reckoning in this thesis,so that the Bluetooth positioning technology and Dead Reckoning technology can complement each other.Based on this goal,first a high-accuracy Bluetooth indoor positioning algorithm is studied and implemented,a high-precision Dead Reckoning algorithm is studied and implemented,and based on this,a Bluetooth and Dead Reckoning complementary filter fusion algorithm is studied and implemented in this thesis.In the complementary filter fusion algorithm,a Dead Reckoning heading is adopted to optimize Bluetooth fingerprint,the relative displacement of Dead Reckoning is used to narrow the search range when the Bluetooth positioning fingerprint matches,and the Bluetooth positioning is used to correct the cumulative error of the Dead Reckoning periodically.And according to the previous cycle error situation of Bluetooth positioning and Dead Reckoning,the weighting weights of Bluetooth positioning and Dead Reckoning is adjusted automatically,thus the positioning accuracy and speed are improved greatly.Then based on this,a complete indoor positioning tracking system is designed and implemented.Finally,the entire indoor positioning tracking system is tested completely.Through the built-in indoor positioning tracking system found that the fusion algorithm achieved in this thesis has achieved the expected design indicators:1.Positioning accuracy is that 90%sampling point error is less than 2 meters and the cumulative average error for a 100-meter straight walk is 1.4 meters.2.Positioning update frequency is 1.5Hz The research results have certain engineering value for the application of the combined positioning technology system.