Robot Localization using Inertial and Wi-Fi Signal Strength Sensors

摘要

In this work simulation of inertial navigation system (INS) and localization using Extended Kalman filter is presented. The used sensors are described by mathematical models. To suppress error in localization also magnetometer and received signal strength index (RSSI) sensor are added to the gyroscope and accelerometer. Correction of INS orientation is done by magnetometer and accelerometer sensors while RSSI measurements from more Wifi access points at known positions are used to correct estimated position. Proposed localization approach is illustrated using simulation while the sensor calibration are performed on real measurements.