According to the present invention, provided is an indoor positioning system, which is a beacon-based indoor positioning system including four beacons and a terminal. In the indoor positioning system, an RSSI signal received by the terminal from the four beacons is corrected by applying an average filter and a Kalman filter, and a final position estimated value is obtained by averaging four estimated values after selecting three of the four beacons and estimating positions by the trilateration.;COPYRIGHT KIPO 2020
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