Vehicle Positioning Using Wi-Fi Networks and GPS/DR System

This paper presents a method to integrate Wi-Fi networks with global positioning system (GPS) and dead reckoning (DR) system for tracking a vehicle in the urban areas by using the federated form of unscented Kalman filer (UKF) and Kalman filer (KF). Due to non-line-of-sight conditions and multipath propagation environments, the estimation of the GPS/DR integrated positioning system lacks acceptable accuracy for demanding applications, such as continuous vehicle tracking. Comparing with GPS, a fingerprinting positioning method based on Wi-Fi signal strength observations could continuously log location information without visibility to the sky. Numerical results show the improvement of the algorithm proposed in the paper.