Research on GPS/INS/WIFI Personnel Tight Combination Positioning Method

With the development of current information technology, it has become a common demand to obtain accurate location quickly. However, in indoor environment where people generally live, GPS signals are partially occluded, and INS inertial navigation system will significantly increase error due integral accumulation error. In view problems poor robustness low accuracy existing loose combination positioning methods, GPS/INS/WIFI personnel tight method was proposed by using WIFI network with wide coverage at present. Firstly, characteristics technology were analyzed, model established. The measurement equation under coupling established pseudo range value RSSI parameters system, state model, so as realize establishment combined space equation. Then, based on unscented Kalman filter theory, compact position solution is Finally, human wearable experiment platform used for experimental verification. results show that can adapt complex interference, high stability accuracy, maximum 0.45m. Compared extended filter, improved 56% 89% respectively, which meet requirements field use.