WiFi Indoor Positioning and Tracking Algorithm Based on Compressive Sensing and Sage-Husa Adaptive Kalman Filter

Abstract

Aiming at the problem that the positioning accuracy of WiFi indoor positioning technology based on location fingerprint has not reached the requirements of practical application, a WiFi indoor positioning and tracking algorithm combining adaptive affine propagation (AAPC), compressed sensing (CS) and Kalman filter is proposed. In the off-line phase, AAPC algorithm is used to generate clustering fingerprints with optimal clustering effect performance; In the online phase, CS and nearest neighbor algorithm are used for position estimation; Finally, the Kalman filter and physical constraints are combined to perform positioning and tracking. By collecting a large number of real experimental data, it is proved that the developed algorithm has higher positioning accuracy and more accurate trajectory tracking effect.