Indoor Positioning Method Based on WiFi/Bluetooth and PDR Fusion Positioning

With the rapid development of the location service industry, various positioning technologies have emerged. Recently, the mainstream indoor positioning technologies include WiFi positioning and Bluetooth positioning. Various positioning methods have their own advantages and disadvantages due to their different positioning technologies. This paper proposes an indoor positioning method based on WiFi, Bluetooth and PDR fusion positioning. Firstly, WiFi positioning and Bluetooth positioning are achieved by improving the weighted centroid method. The WiFi and Bluetooth positioning are integrated, and the positioning result is integrated by weight adaptive constraint, which solves the problem of WiFi signal instability. The fusion positioning result and PDR positioning fusion are used to achieve fusion positioning through UKF, which solves the problem of large cumulative error in PDR positioning. The experiment proves that the WiFi, Bluetooth and PDR fusion positioning results are higher than the positioning accuracy of the individual positioning, which solves the problem that the WiFi positioning signal is unstable and the PDR cumulative error is large.