An Fusion Positioning for PDR and WiFi Based on Fading Adaptive Weighted EKF

According to the accumulation of points within WiFi locations based on the fingerprint map database, and error accumulation calculated by Pedestrian Dead Reckoning, a loose fusion coupling algorithm by Adaptive Weighted Extended Kalman Filter is presented. This method maintains the high-precision of WiFi locations. In the meanwhile, the algorithm inherited the coherence from PDR(Pedestrian Dead Reckoning), which not only decreased the accumulated rebound points, but weakened the error accumulation, enhanced the efficiency of the fusion algorithm, and finally improved the precision and stability of indoor localization. The result denotes that this method works in the indoor environment quite well, which improves almost 22.9% according to WiFi results.