Research Article
An Indoor Navigation Algorithm Using Multi-dimensional Euclidean Distance and the Adaptive Particle Filter
@INPROCEEDINGS{10.1007/978-3-031-70507-6_11, author={Yunbing Hu and Ao Peng and Shenghong Li}, title={An Indoor Navigation Algorithm Using Multi-dimensional Euclidean Distance and the Adaptive Particle Filter}, proceedings={IoT as a Service. 9th EAI International Conference, IoTaaS 2023, Nanjing, China, October 27-29, 2023, Proceedings}, proceedings_a={IOTAAS}, year={2024}, month={10}, keywords={The inertial navigation system WiFi fingerprint mathcing The adaptive particle filter Multi-dimensional Euclidean distance}, doi={10.1007/978-3-031-70507-6_11} }- Yunbing Hu
Ao Peng
Shenghong Li
Year: 2024
An Indoor Navigation Algorithm Using Multi-dimensional Euclidean Distance and the Adaptive Particle Filter
IOTAAS
Springer
DOI: 10.1007/978-3-031-70507-6_11
Abstract
The inertial navigation systems exhibit excellent short-term positioning accuracy, yet they are susceptible to cumulative errors over time. WiFi fingerprint localization avoids cumulative errors, but it is prone to mismatching issues. Therefore, a commonly used technique is the integration of an inertial navigation system and WiFi fingerprint matching.The particle filter employs dead reckoning (DR) for the state transfer equation, while utilizing the disparity between inertial navigation and WiFi fingerprint matching as the observation equation. Floor map information is introduced to detect whether particles cross the wall and if so, the weight is set to zero. For the particles that do not cross the wall, considering the distance between the current particles and the historical particles, an adaptive particle filter is proposed. The adaptive factor increases the weight of highly trusted particles and reduces the weight of untrusted particles. Another innovation is the introduction of a multidimensional Euclidean distance algorithm to reduce inconsistencies in WiFi fingerprint matching. The experimental results show that the proposed algorithm achieves high positioning accuracy.
