室内BLE/MEMS跨楼层融合定位算法

doi:10.11959/j.issn.1000-436x.2017076

Abstract

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 propagation clustering,outlier detection and received signal strength indicator (RSSI) filtering algorithms were applied to denoise 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 positioning errors lower than 0.7 m and 0.35 m respectively in multi-floor fusion positioning.

Key words: indoor positioning, multi-floor,data fusion, BLE, MEMS

CLC Number:

TP391

Mu ZHOU,Bin WANG,Zeng-shan TIAN,Qian-kun ZHANG. Indoor BLE and MEMS based multi-floor fusion positioning algorithm[J]. Journal on Communications, 2017, 38(5): 1-10.

Figures/Tables 16

References 21

[1]	HALLBERG J , NILSSON M , SYNNES K . Positioning with bluetooth[C]// 10th IEEE International Conference on Telecommunications. 2003: 954-958.
[2]	GEZICI S , TIAN Z , GIANNAKIS G B ,et al. Localization via ultra-wideband radios:a look at positioning aspects for future sensor networks[J]. IEEE Signal Processing Magazine, 2005,22(4): 70-84.
[3]	NI L M , LIU Y , LAU Y C ,et al. LANDMARC:indoor location sensing using active RFID[J]. Wireless Networks, 2004,10(6): 701-710.
[4]	JUDD T , . A personal dead reckoning module[C]// ION GPS. 1997,97: 47-51.
[5]	BAHL P , PADMANABHAN V N . RADAR:an in-building RF-based user location and tracking system[C]// IEEE INFOCOM. 2000,2: 775-784.
[6]	KOO B , LEE S , LEE M ,et al. PDR/fingerprinting fusion indoor location tracking using RSS recovery and clustering[C]// International Conference on Indoor Positioning and Indoor Navigation. 2014: 699-704.
[7]	TANENHAUS M , CARHOUN D , GEIS T ,et al. Miniature IMU/INS with optimally fused low drift MEMS gyro and accelerometers for applications in GPS-denied environments[C]// IEEE/ION Position Location and Navigation Symposium. 2012: 259-264.
[8]	赵延鹏, 时伟, 艾明曦 . 室内行人航迹推算/超声波组合定位融合算法[J]. 中南大学学报(自然科学版), 2016,47(5): 1587-1598.
	ZHAO Y P , SHI W , AI M X . Fusion algorithm in indoor integrated position system for pedestrian dead reckoning/ultrasonic[J]. Journal of Central South University（Science and Technology) , 2016,47(5): 1587-1598.
[9]	XIAO W , NI W , TOH Y K . Integrated Wi-Fi fingerprinting and inertial sensing for indoor positioning[C]// IEEE International Conference on Indoor Positioning and Indoor Navigation. 2011: 1-6.
[10]	WANG H , LENZ H , SZABO A ,et al. WLAN-based pedestrian tracking using particle filters and low-cost MEMS sensors[C]// 4th IEEE Workshop on Positioning,Navigation and Communication. 2007: 1-7.
[11]	ATIA M M , KORENBERG M , NOURELDIN A . A WiFi-aided reduced inertial sensors-based navigation system with fast embedded implementation of particle filtering[C]// 8th IEEE International Symposium on Mechatronics and its Applications. 2012: 1-5.
[12]	MALYAVEJ V , KUMKEAW W , APRPIMAI M . Indoor robot localization by RSSI/IMU sensor fusion[C]// International Conference on Electrical Engineering/Electronics,Computer,Telecommunications and Information Technology. 2013: 1-6.
[13]	刘兴川, 张盛, 林孝康 . 基于数据融合的 WLAN/MARG 组合定位系统[J]. 系统工程与电子技术, 2012,34(11): 2361-2365.
	LIU X C , ZHANG S , LIN X K . WLAN/MARG integrated positioning system using data fusion[J]. Systems Engineering and Electronics, 2012,34(11): 2361-2365.
[14]	王羡慧, 陈俊英, 覃征 ,等. 基于动态阻尼因子的动态阻尼仿射传播聚类[J]. 华中科技大学学报(自然科学版), 2012,40(2): 116-122.
	WANG X H , CHEN J Y , QIN Z ,et al. Dynamic damping factor-based dynamic damping affinity propagation clustering[J]. Journal of Huazhong University of Science and Technology.Nature Science, 2012,40(2): 116-122.
[15]	胡彩平, 秦小麟 . 一种基于密度的局部离群点检测算法 DLOF[J]. 计算机研究与发展, 2010,47(12): 2111-2116.
	HU C P , QIN X L . A density-based local outlier detecting algorithm[J]. Journal of Computer Research and Development, 2010,47(12): 2111-2116.
[16]	ZHAO K , LI B H , DEMPSTER A G . A new approach of real time step length estimation for waist mounted PDR system[C]// IEEE International Conference on Wireless Communication and Sensor Network. 2015: 400-406.
[17]	WU D , XU Y , MA L . Research on RSS based indoor location method[C]// IEEE Pacific-Asia Conference on Knowledge Engineering and Software Engineering. 2009: 205-208.
[18]	YANG Y , GAO W , ZHANG X . Robust Kalman filtering with constraints:a case study for integrated navigation[J]. Journal of Geodesy, 2010,84(6): 373-381.
[19]	蒋庆仙, 王成宾, 马小辉 ,等. 利用中位数进行光纤陀螺信号抗差估计[J]. 武汉大学学报(信息科学版), 2011,36(6): 656-659.
	JIANG Q X , WANG C B , MA X H ,et al. Robust estimation for FOG signal based on median method[J]. Geomatics and Information Science of Wuhan University, 2011,36(6): 656-659.
[20]	茹滨超, 鲜斌, 宋英麟 ,等. 基于气压传感器的无人机高度测量系统[J]. 中南大学学报(自然科学版), 2013,44(S2): 94-97.
	RU B C , XIAN B , SONG Y L ,et al. An altitude measurement unit for micro unmanned aerial vehicles based on barometer[J]. Journal of Central South University（Science and Technology) , 2013,44(S2): 94-97.
[21]	BAI S , WU T . Analysis of K-means algorithm on fingerprint based indoor localization system[J]. Journal of Theoretical Biology, 2007,246(3): 510-21.

Metrics

Recommended 0

No Suggested Reading articles found!

分位值	融合定位/m	MEMS定位/m	BLE定位/m
50%	≤0.60	≤3.80	≤2.29
70%	≤0.77	≤4.48	≤3.75
90%	≤1.03	≤5.26	≤8.41

Indoor BLE and MEMS based multi-floor fusion positioning algorithm

RichHTML

PDF

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 16

References 21

Related Articles 15

Metrics

Recommended 0

[1]	Tao FENG, Liqiu CHEN, Junli FANG, Jianming SHI. Blockchain data sharing scheme based on localized difference privacy and attribute-based searchable encryption [J]. Journal on Communications, 2023, 44(5): 224-233.
[2]	Qianyi DAI, Bin ZHANG, Song GUO, Kaiyong XU. Blockchain network layer anomaly traffic detection method based on multiple classifier integration [J]. Journal on Communications, 2023, 44(3): 66-80.
[3]	Huawei HUANG. Security analysis of public-key cryptosystems based on matrix action problem against quantum attack [J]. Journal on Communications, 2023, 44(3): 220-226.
[4]	Dongbin WANG, Dongzhe WU, Hui ZHI, Kun GUO, Xu ZHANG, Jinqiao SHI, Yu ZHANG, Yueming LU. Preventing flow table overflow against denial of service attack in software defined network [J]. Journal on Communications, 2023, 44(2): 1-11.
[5]	Shengbao WANG, Xin ZHOU, Kang WEN, Bosen WENG. Tripartite authenticated key exchange protocol for smart grid [J]. Journal on Communications, 2023, 44(2): 210-218.
[6]	Bin WANG, Lu REN, Xiaofan WANG, Yajuan CAO. Cooperative coevolution algorithm with covariance analysis for differential evolution [J]. Journal on Communications, 2023, 44(1): 189-199.
[7]	Caixia LIU, Xinsheng JI, Jiangxing WU. Endogenous security common problems and solutions of the mobile communication networks [J]. Journal on Communications, 2022, 43(9): 70-79.
[8]	Rong ZENG, Xiao HANG. Reconfigurable intelligent surface assist wireless channel estimation algorithm in Internet of vehicles environment [J]. Journal on Communications, 2022, 43(8): 142-150.
[9]	Youqing WU, Wenjing MA, Zhaoxia YIN, Yinyin PENG, Xinpeng ZHANG. Reversible data hiding in encrypted image based on bit-plane compression of prediction error [J]. Journal on Communications, 2022, 43(8): 219-230.
[10]	Haiyan GUO, Zhen YANG, Yulong ZOU, Bin LYU, Yuntian FENG, Yujuan ZHAO. Double-RIS assisted anti-jamming communication method based on joint active and passive beamforming optimization [J]. Journal on Communications, 2022, 43(7): 21-30.
[11]	Manman LI, Shaozhen CHEN. Improved meet-in-the-middle attack on reduced-round Kiasu-BC algorithm [J]. Journal on Communications, 2022, 43(7): 41-48.
[12]	Zhenyu WANG, Yang GUO, Shaoqing LI, Shen HOU, Ding DENG. Design of efficient anonymous identity authentication protocol for lightweight IoT devices [J]. Journal on Communications, 2022, 43(7): 49-61.
[13]	Ziyuan WANG, Ruizhong DU. Certificateless public key cryptography based provable data possession scheme in edge environment [J]. Journal on Communications, 2022, 43(7): 62-72.
[14]	Ruizhong DU, Yuqing ZHANG, Mingyue LI. Efficient dynamic searchable encryption scheme for conjunctive queries based on bidirectional index [J]. Journal on Communications, 2022, 43(5): 123-132.
[15]	Huanhuan LIAN, Huiying HOU, Yunlei ZHAO. Post-quantum verifier-based three-party password authenticated key exchange protocol [J]. Journal on Communications, 2022, 43(4): 95-106.