Edge computing-enabled green multisource fusion indoor positioning algorithm based on adaptive particle filter

摘要

Edge computing enables portable devices to provide smart applications, and the indoor positioning technique offers accurate location-based indoor navigation and personalized smart services. To achieve the high positioning accuracy, an indoor positioning algorithm based on particle filter requires a large number of sample particles to approximate the probability density function, which leads to the additional computational cost and high fusion delay. Focusing on real-time and accurate positioning, an edge computing-enabled green multi-source fusion indoor positioning algorithm called APFP is proposed based on adaptive particle filter in this paper. APFP considers both pedestrian dead reckoning (PDR) signals in mobile terminals and the received signal strength indication (RSSI) of Bluetooth, and effectively merges the error-free accumulation of trilateral positioning and the accurate short-range positioning of PDR, which enables mobile terminals adaptively perform particle filter to reduce the computing time and power consumption while ensuring positioning accuracy simultaneously. Detailed experimental results show that, compared with the traditional particle filter algorithm and the map-constrained algorithm, the proposed APFP reduces fusion computing cost by 59.89 and 54.37, respectively.