一种融合WiFi/地磁/PDR的室内定位方法

提出了一种改进的粒子滤波方法，利用室内常见的WiFi信号、地磁源并结合智能手机廉价传感器进行室内定位。WiFi室内定位错误匹配情况较少，地磁指纹室内定位具有较强的抗干扰能力，本文利用两者的优点并结合PDR提供连续的位置信息。与传统的粒子滤波相比，采用MD-DTW（多维动态时间规整算法）对粒子定权并提出分段粒子定权的方法对粒子序列长度进行约束，能有效加快粒子滤波收敛速度。仿真试验表明利用改进的粒子滤波进行定位结果可达1 m，有较强的实用性。

An indoor localization method combining WiFi,geomagnetism and PDR

This paper proposes an improved particle filtering method that uses indoor WiFi signals, geomagnetic sources, and cheap smartphone sensors to perform indoor localization. WiFi indoor localization has fewer mismatches and geomagnetic fingerprint indoor localization has strong anti-interference ability, this paper uses the advantages of both and combines PDR to provide continuous location information. Compared with traditional particle filtering, MD-DTW (multi-dimensional dynamic time warping) is used to determine the weight of particles, and a segmented particle weighting method is proposed to constrain the length of the particle sequence, which can effectively accelerate the convergence speed of particle filtering. Simulation experiments show that the improved particle filter can achieve a positioning result of 1 m, which has strong practicability.