Device and method for integrated navigation based on wireless fingerprints and MEMS sensors

A navigation device based on the integration of wireless fingerprints and MEMS sensors, which comprises:

• a wireless signal intensity data collecting and processing module, a MEMS sensor data collecting and processing module, a data integration module and several wireless access points distributed in different positions;
• wherein the wireless signal intensity data collecting and processing module is adapted to obtain first position information of a target to be detected according to the wireless signal intensity between the target to be detected and the wireless access points;
• the MEMS sensor data collecting and processing module is adapted to obtain second position information of the target to be detected according to state change information of the target to be detected;
• and the data integration module is adapted to integrate the first position information and the second position information to obtain final position information of the target to be detected according to an integrated result, and feeds back the integrated result to the wireless signal intensity data collecting and processing module and the MEMS sensor data collecting and processing module wherein, the data integration module comprises:
• a combination filter and a smooth filter;
• the smooth filter is adapted to perform smoothing to the first position information of the target to be detected and then transmits it to the combination filter;
• the combination filter is adapted to integrate the smoothed first position information being and the second position information of the target to be detected to obtain final position information of the target to be detected.

A navigation method based on the integration of wireless fingerprints and MEMS sensors, wherein:

• the wireless signal intensity data collecting and processing module obtains first position information of a target to be detected according to wireless signal intensity information between the target to be detected and wireless access points;
• the MEMS sensor data collecting and processing module obtains second position information of the target to be detected according to state change information of the target to be detected;
• and
• the data integration module integrates the first position information and the second position information of the target to be detected to obtain final position information of the target to be detected according to the integrated result, and feeds back the integrated result to the wireless signal intensity data collecting and processing module and the MEMS sensor data collecting and processing module,
• wherein, the wireless signal intensity data collecting and processing module obtains the first position information of the target to be detected, which includes the following steps:
• performing position information sampling in a positioning region, generating and storing wireless fingerprints from position information of a sampling point and the wireless signal intensity information between the sampling point and the wireless access points, and constructing a wireless signal map database using the wireless fingerprints;
• taking the wireless signal intensity information between the target to be detected and the wireless access points as the center, determining the basic search area at the current moment by a preset searching shape, taking the integration result of the previous moment as the center of the expanded search area, determining the expanded search area at the current moment by the preset searching shape, and then combining the basic search area and the expanded search area according to a preset combining mode to obtain the fingerprint search area at the current moment and—therefor
• performing fingerprint matching to the wireless signal intensity information of the target to be detected in the fingerprint search area to obtain a first position information of the target to be detected at the current moment.