Novel WiFi/MEMS Integrated Indoor Navigation System Based on Two-Stage EKF.
MICROMACHINES 2019;
10:mi10030198. [PMID:
30897800 PMCID:
PMC6470769 DOI:
10.3390/mi10030198]
[Citation(s) in RCA: 17] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/22/2019] [Revised: 03/18/2019] [Accepted: 03/19/2019] [Indexed: 11/28/2022]
Abstract
Indoor navigation has been developing rapidly over the last few years. However, it still faces a number of challenges and practical issues. This paper proposes a novel WiFi/MEMS integration structure for indoor navigation. The two-stage structure uses the extended Kalman filter (EKF) to fuse the information from WiFi/MEMS sensors and contains attitude-determination EKF and position-tracking EKF. In the WiFi part, a partition solution called “moving partition” is originally proposed in this paper. This solution significantly reduces the computation time and enhances the performance of the traditional Weighted K-Nearest Neighbors (WKNN) method. Furthermore, the direction measurement is generated utilizing WiFi positioning results, and a “turn detection” is implemented to guarantee the effectiveness. The navigation performance of the presented integration structure has been verified through indoor experiments. The test results indicate that the proposed WiFi/MEMS solution works well. The root mean square (RMS) position error of WiFi/MEMS is 0.7926 m, which is an improvement of 20.59% and 36.60% when compared to MEMS and WiFi alone. Besides, the proposed algorithm still performs well with very few access points (AP) available and its stability has been proven.
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