Indoor and Outdoor Seamless Positioning Method for Open Environment

Positioning technology is the key of various fields such as mobile robots and intelligent vehicles. Lots of applications need to obtain indoor and outdoor positioning data continuously when the environment of themselves changes. This paper proposes an indoor and outdoor seamless positioning method for open environment based on the adaptive Federated Filter (FF). Rather than most of the existing indoor positioning methods which need to add extra equipment to the positioning target, this method uses target tracking algorithm to provide multi-target indoor positioning and uses data association method to confirm the target identity. In addition, two sub-filter built by Inertial Measurement Unit (IMU) and Global Navigation Satellite System (GNSS), IMU and indoor positioning respectively are integrated to construct an adaptive FF to realize the indoor and outdoor seamless positioning. An indoor and outdoor seamless positioning system consisting of multiple mobile units and indoor positioning units is also designed to implement the method expediently. The experiment results show that the indoor positioning method proposed in this paper is greatly improves the applicability of indoor positioning services and lightly better than the ultrawideband (UWB) and IMU fusion positioning method, and the indoor and outdoor seamless positioning method can obtain stable and smooth positioning data in the whole positioning process.