Fusion positioning algorithm of indoor WiFi and bluetooth based on discrete mathematical model
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ORIGINAL RESEARCH
Fusion positioning algorithm of indoor WiFi and bluetooth based on discrete mathematical model Fang Zhang1 Received: 31 May 2020 / Accepted: 24 October 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract Aiming at the problem of limited beacon coverage and low positioning accuracy when indoor WiFi and Bluetooth are positioned separately, the fusion positioning algorithm of indoor WiFi and Bluetooth based on discrete mathematical model is studied. The position fingerprint method is used to realize WiFi indoor positioning through two stages of “off-line/training” and “on-line positioning”. The intensity of Bluetooth is obtained through Gauss distribution model. The intensity of Bluetooth signal and the relationship between the distance corresponding to Bluetooth and signal intensity are used to obtain the positions of multiple groups of points to Bluetooth nodes. And then the final positioning coordinates of users are obtained by centroid algorithm. The prior location results and distribution are obtained by multi-source prior information fusion between WiFi and Bluetooth. The optimal Bayesian posterior distribution density function is used to estimate the coordinate deviation, which is used to correct the fusion positioning results and obtain the optimal estimation of the coordinates of WiFi and Bluetooth fusion positioning. The experimental results show that the algorithm can locate indoor volunteers with a positioning accuracy of more than 98% and a positioning time of less than 5 s, which has a high positioning performance. Keywords Discrete mathematical model · Indoor · WiFi · Bluetooth · Fusion · Positioning algorithm
1 Introduction In the 1960s, the development of automatic vehicle positioning system started the prelude of experts and scholars’ research on wireless positioning technology. After the 1980s, along with the emergence of global positioning system, people started the climax of research on wireless positioning technology. According to the application environment of wireless positioning, wireless positioning technology can be divided into two categories: indoor wireless positioning technology and outdoor wireless positioning technology. The development and application of outdoor positioning market has basically become saturated, people spend an average of 80–90% of their time indoors, and 70% of mobile phones are used indoors. Therefore, positioning research in indoor environment has great market value and application prospects (Zhao et al. 2017a, c, b, d), for example, emergency evacuation and rescue of large buildings, advertising * Fang Zhang [email protected] 1
School of Information Engineering, Xuchang University, Xuchang, China
and preferential information push in large shopping malls, and real-time indoor navigation, etc. Satellite navigation and positioning system has high reliability and outdoor positioning accuracy. Typical satellite navigation and positioning systems include Beidou of China, GLONASS of Russia, Galileo of European Union and G
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