Integrated Research Of Indoor Positioning And Navigation Based On Bluetooth Positioning Technology And Inertial Navigation System

The rapid development of intelligent home and other industries drives the popularity of the application of room positioning and navigation system in China.At present,most indoor positioning and navigation systems in China mainly use inertial navigation and positioning technology.Although this technology can meet the basic requirements of indoor positioning,but because of the cumulative error of inertial navigation technology,a large number of indoor positioning and navigation systems are unsatisfactory during the application period.This paper proposes a design scheme of indoor positioning and navigation system based on Bluetooth positioning technology and inertial navigation system.The software platform adopts SHH data transmission mode to ensure data security,and the hardware adopts Raspberry Pi-4B intelligent mobile terminal as the core of the hardware integration system,including I2C bus,CAN module,empty cup DC motor,driver,etc.The indoor positioning and navigation system includes data acquisition module,quaternion representation rotation module,filter complementary computing module,data transmission module and car control module.The data acquisition module is responsible for collecting sensor data during the operation of the system,and the quaternion representation rotation module is responsible for describing the change of the Angle of the carrier car.The filter complementary calculation module is responsible for correcting the rotation matrix,and then correcting the information of the direction Angle of the carrier car.The data transmission ink module is responsible for connecting intelligent mobile terminals with inertial sensors to realize data transmission based on I2C bus.The car control module is responsible for sending driving commands to the carrier car through the raspberry PI intelligent mobile terminal to make the carrier car make various actions.In terms of algorithm,for location confirmation,based on the understanding of bluetooth signal propagation characteristics and the setting of fingerprint database points,this paper adopts the improved fuzzy C-means algorithm to achieve fingerprint database clustering,and combines Implicit naive Bayes to achieve bluetooth precise positioning.In the aspect of track calculation,the peak gait detection is improved by using improved gait detection algorithm,and the step size estimation is realized by recording the position of wave crest and wave trough.The determination of heading Angle is realized by combining gyroscope and direction sensor.In order to further improve the positioning accuracy,this paper proposes a positioning fusion algorithm,which integrates the positioning results of Bluetooth positioning and flight path calculation to achieve high precision positioning.Finally,through experiments,the design of the system and structure in this paper and the selection of the algorithm can effectively improve the positioning accuracy of indoor positioning navigation system.