Method and apparatus for indoor location tracking using particle filter based on wireless signal strength

摘要

An indoor location tracking method and apparatus using a particle filter based on wireless signal strength is disclosed. Specifically, an indoor location tracking method using a particle filter based on a wireless signal strength by a location tracking device, comprising: initializing particles on a base map corresponding to a target space of location tracking; measuring a first distance value between a terminal and a beacon and a second distance value between the particle and the beacon; calculating a weight value of the particle by comparing the first distance value with the second distance value; updating the conventional weight value of the particle according to the weight value, and resampling the particle; When the resampling is performed a certain number of times, deriving the location estimation coordinates of the terminal; and repeating the steps of measuring the first distance value and the second distance value after moving the particle to an arbitrary point on the target space, wherein the terminal and the beacon are the target space of location tracking One or more may be located in