Research on UWB/BLE-based Fusion Indoor Positioning Algorithm and System Application

The accelerating advancement of 5G networks, Internet of Things, and data processing methods in the 21st century raised people's demand for location-based services, especially the indoor locating services. Therefore, indoor locating services have gradually replaced outdoor locating services to become a new research focus and challenge. Given that the traditional indoor locating systems, which are largely based on positioning technologies such as WiFi and radar, performed unsatisfactorily in terms of cost and, the most vital, accuracy.The Wireless Sensor Network (WSN) has become the core of the Internet of Things and has been widely utilized to tackle the difficulties in the indoor location during the past ten years. The present study analyzed and compared the working principles, research status, and the pros and cons of several commonly used wireless sensors, and drew a conclusion that single indoor locating technology inevitably comes with corresponding limitations, which can be solved through the combination of multiple complementary locating technology. This paper employed UWB and BLE as the subsystems of the indoor combination locating system, analyzed and optimized the respective locating algorithm model of each subsystem, and proposes an optimization model for combination locating algorithm based on EKF-PF, to enhance the accuracy. Eventually, we built a novel set of low-cost, convenient and flexible indoor combination locating system based on Bluetooth-UWB technology that supports both two-dimensional and three-dimensional spatial location.