Research Of WiFi Indoor Location Based On Quadrotor

With the development of science and technology,UAV technology is more and more mature,and the application is also more and more widely.Among them,rotarywing drones(mainstream ones: three-rotor,four-rotor and six-rotor)receive wide attention due to their flexibility.It is mainly used in aerial photography,express delivery and agricultural plant protection.UAVs may encounter positioning problems during the application process.Currently,UAVs generally use GPS for positioning.However,due to the influence of buildings,GPS can not be used indoor situations.Therefore,there is a need another positioning technology-Indoor positioning.The current mainstream indoor positioning technologies include: infrared positioning,ultrasonic positioning,radio frequency identification(RFID)positioning,WiFi positioning,Bluetooth positioning,UWB positioning and the like.Among them,as WiFi hotspots become more and more popular in life,it is easier to obtain WiFi signals,so that the WiFi indoor positioning technology has drawn people's attention.Based on this idea,this paper applies Wi Fi positioning technology to quadcopter to solve its positioning problem in the indoor environment.This paper mainly designs a WiFi indoor positioning system based on location fingerprinting algorithm on the quadcopter platform.The system mainly includes two parts: upper computer and lower computer.The upper computer is used to establish the fingerprint database and realtime positioning on the PC,and then sends the positioning result to the lower computer.Most of the calculations are given to the upper computer to greatly reduce the workload of the lower computer to improve its stability.The lower computer refers to a quadcopter platform.The main task is to collect Wi Fi signal strength and perform simple processing on the collected data.And for the problem that the WiFi signal strength is easily affected by the environmental.Kalman filtering is added to the data collection process during fingerprint database establishment and real-time positioning to improve the position fingerprint algorithm and improve the authenticity of the data.In the actual test process,the system can normally collect WiFi signal strength,the establishment of fingerprint library and real-time positioning.The experimental results show that the improved algorithm has certain improvement in positioning accuracy,and has a certain degree of anti-interference.