Research On Indoor Positioning Algorithm Integrating Zigbee And IMU Data

With the introduction of the concept of "Internet of everything",wireless sensor networks emerge as the times require due to the fact that traditional networks need a physical connection to meet the requirements of communication.Location information acquisition is an important problem in wireless sensor networks.In the outdoor environment,people can easily get the desired location information by using Glbal Positioning System(GPS).However,in the indoor environment,because the reinforced concrete building structure will seriously affect the transmission of GPS signals,people can only obtain the required location information through other ways.For this reason,many scholars have studied it and made some progress.1.Based on previous studies,this paper summarizes the commonly used indoor positioning schemes at home and abroad.And discusses the advantages and disadvantages of different positioning schemes.2.By analyzing the uniqueness of indoor kinematics,this paper constructs a kinematics model suitable for indoor environment,and uses MPU 6050 six-axis motion processing module to analyze the positioning scheme with Inertial measurement unit(IMU)as the carrier.It is found that the positioning accuracy of this scheme is relatively high at the initial stage.But with the extension of positioning time,the positioning accuracy is obviously deteriorated.Therefore,the indoor positioning scheme using IMU as the carrier cannot meet the needs of a practical application.3.For Zigbee position fingerprint to locate scheme,according to the theory of transmission of wireless signal model analysis the factors that influence the location accuracy through theoretical derivation improve the fingerprint matching using the weight value,based on the hardware of CC2530 wireless node module to get the data,through a set of experiments to verify the effectiveness of the improved method.4.In order to balance the relationship between positioning accuracyand positioning time,this paper proposes an indoor positioning scheme based on Zigbee and IMU positioning information fusion.Specifically,inspired by the scheme based on Kalman fusion.In the case of short-term positioning,a higher weight is given to the location information obtained by IMU.In the case of long-term positioning,a higher weight is given to the location information obtained by Zigbee.And the state of the localization system constantly updated according to the positioning time,in order to get more accurate position information.The experimental data show the accuracy of the fusion localization scheme.