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中文摘要：
提出一种基于微机电系统（MEMS,micro electro mechanical system）传感器与低功耗蓝牙（BLE,bluetooth low energy）数据融合的室内BLE/MEMS跨楼层定位算法。首先利用仿射传播聚类、离群点检测和接收信号强度（RSSI,received signal strength indicator）滤波算法对指纹库进行去噪,然后采用扩展卡尔曼滤波器,并根据抗差M估计方法对二维目标位置进行最优估计,最后基于气压计输出和地理位置信息实现对目标的高度估计。实验结果表明,该系统在室内环境下能够达到水平和垂直定位均方根误差小于0.7 m和0.35 m的跨楼层融合定位。
英文摘要：
Based on the data fusion from micro electro mechanical system （MEMS） sensors and low-power bluetooth （BLE）, an indoor BLE and MEMS based multi-floor positioning algorithm was proposed. First of all, the affinity propa- gation clustering, outlier detection and received signal strength indicator （RSSI） filtering algorithms were applied to de- noise the fingerprint database. Second, by using the extended Kalman filter, the robust M estimation algorithm was used to perform the optimal estimation of the two-dimensional target position. Finally, the barometer output and geographical position information was considered to realize the height estimation of the target. The experimental results show that the proposed system is able to achieve the horizontal and vertical positioning errors lower than 0.7 m and 0.35 m respectively in multi-floor fusion positioning.
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