Electronic Science and Technology ›› 2022, Vol. 35 ›› Issue (10): 21-26.doi: 10.16180/j.cnki.issn1007-7820.2022.10.004

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WiFi/PDR Fusion Real-Time Localization Algorithm Based on Region Constraint

HU Wenqiang,HU Jianpeng   

  1. School of Electronic and Electrical Engineering,Shanghai University of Engineering Science, Shanghai 201620,China
  • Received:2021-04-15 Online:2022-10-15 Published:2022-10-25
  • Supported by:
    Shanghai Key Project of Committee of Science and Technology(18511101600)


In view of the problems of high algorithm complexity and large computation in the practical application of indoor positioning system, a WiFi/PDR integrated positioning system based on EKF is designed and implemented. In the WiFi fingerprint positioning part, a fingerprint matching method based on an adaptive sliding window is proposed. The search window is obtained by calculating the RSSI Euclidean distance in the neighboring state to dynamically adjust the matching range of the fingerprint library, thereby achieving rapid convergence of the positioning results. In the fusion localization stage, the system characteristics of EKF and PDR are combined to solve the time registration problem. Based on the WiFi data update, the EKF algorithm is used for data fusion, and the PDR directly outputs the positioning result when the fusion data is not synchronized. Experimental results show that the positioning system has good operating effects and stability. The average positioning error of the proposed method is 2.27 m in the actual positioning scene, and the positioning accuracy can reach 3 m in 80% of the cases.

Key words: multi-source fusion, indoor positioning, received signal strength, WiFi positioning, K-nearest neighbor, PDR, extended Kalman filtering, real-time positioning

CLC Number: 

  • TN92