INDOOR INTEGRATED NAVIGATION SYSTEM BASED ON WiFi/INERTIAL NAVIGATION SENSORS

摘要

In this work it is proposed to apply WiFi measurements as measurement to correct the drift weakening the navigation based on inertial sensors. On the other hand, INS sensors can complete efficiently the information with the WiFi positioning system as they provide high accuracy real-time navigation from 100Hz to 1000Hz in more advanced applications. A structure based on a Kalman filter at first, then on Non Linear Filters NLF such as Extended kalman Filter EKF, Sigma Point Kalman Filters SPKF and Divided Difference Filters DDF are proposed, in addition to the Particl Filtering PF technique. Proposed to fuse between IMU with redundancy ,Height Update mesurement output and WiFi information through several algorithms in order to compare and decide which one is the most appropriate for such application. Finally, the benefits of the proposed architecture are evaluated and compared with the individual solutions WiFi and INS positioning systems-