Computer Science ›› 2025, Vol. 52 ›› Issue (11A): 250100083-4.doi: 10.11896/jsjkx.250100083

• Network & Communication • Previous Articles     Next Articles

Bluetooth-PDR Multi-sensor Fusion Indoor Positioning Method Based on UKF

MAO Dongfang1,2, JIANG Guoping1   

  1. 1 College of Automation & College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing 210023,China
    2 Wuxi Realid Technology Co.,Ltd.,Wuxi,Jiangsu 214135,China
  • Online:2025-11-15 Published:2025-11-10

Abstract: To improve the accuracy and stability of indoor positioning,this paper proposes an indoor positioning method based on UKF and by integrating bluetooth fingerprint database and PDR.Firstly,by collecting signal strength data from different locations,a bluetooth fingerprint database is constructed.Secondly,the use of multiple sensors such as built-in accelerometers and gyroscopes in mobile phones for pedestrian dead reckoning is employed.Then,the UKF approach is used for fusion to overcome the disadvantage of cumulative errors in pedestrian dead reckoning,thus achieving high-precision indoor positioning.It has the characteristics of low cost,high sensitivity,good stability,and simple positioning methods.Finally,the experimental simulation results demonstrate the effectiveness of this method.

Key words: PDR, Multi-sensor fusion, Unscented Kalman Filter, Fingerprint Database, Indoor positioning

CLC Number: 

  • TP92
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