室内BLEMEMS跨楼层融合定位算法周牧.pdfVIP

38 5 Vol.38 No.5 2017 5 Journal on Communications May 2017 doi:10.11959/j.issn.1000-436x.2017076 BLE/MEMS 1,2 1 1 1 1. 400065 2. 300387 MEMS, micro electro mechanical system(BLE, bluetooth low energy) BLE/MEMS RSSI, received signal strength indicator M 0.7 m 0.35 m TP391 A Indoor BLE and MEMS based multi-floor fusion positioning algorithm 1,2 1 1 1 ZHOU Mu , WANG Bin , TIAN Zeng-shan , ZHANG Qian-kun (1. Chongqing Key Lab of Mobile Communications Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065,China; 2. Tianjin Key Laboratory of Wireless Mobile Communication and Radio Power Transmission, Tianjin Normal University, Tianjin 300387,China) Abstract: Based on the data fusion from micro electro mechanical system (MEMS) sensors and low-power bluetooth (BLE), an indoor BLE and MEMS based multi-floor positioning algorithm was proposed. First of all, the affinity propa- gation clustering, outlier detection and received signal strength indicator (RSSI) filtering algorithms were applied to de- noise the fingerprint database. Second, by using the extended Kalman filter, the robust M estimation algorithm was used to perform the optimal estimation of the two-dimensional target position. Finally, the barometer output and geographical position information was considered to realize the height estimation of the target. The experimental results show that the proposed system is able to achieve the horizontal and vertical