WiFi/PDR Integrated System for 3D Indoor Localization

  • Mu ZhouEmail author
  • Maxim Dolgov
  • Yiyao Liu
  • Yanmeng Wang
Conference paper
Part of the Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering book series (LNICST, volume 251)


In recent years, location-based services LBS have received extensive attention from scholars at home and abroad, and how to obtain location information is a very important issue. The creation of systems for solving problems of positioning and navigation inside buildings is a very perspective, actual and complicated task, especially in a multi-floor environment. To improve the indoor localization performance, we proposed a three-dimensional (3D) indoor localization system integrating WiFi/Pedestrian Dead Reckoning (PDR), where extended Kalman filter (EKF) is used to estimate target location. The algorithm first relies on MEMS in our mobile phones to evaluate the speed and heading angle of the test nodes. Second, for two-dimensional (2D) localization, the speed and heading angle as with as the results of the WiFi Fingerprint-based localization are utilized as the inputs to the EKF. Third, the proposed algorithm works out the height of the test nodes by utilize a barometer and geographical data which have been recorded in real time. Our experimental results in a real multi-layer environment indicate that the proposed WiFi/PDR integrated system algorithm means that the localization accuracy error is at least 1 m lower than WiFi and PDR itself.


Wi-Fi fingerprinting PDR Extended Kalman Filter Multi-floor positioning 



This work is supported in part by Program for Changjiang Scholars and Innovative Research Team in University (IRT1299), Special Fund of Chongqing Key Laboratory (CSTC), Fundamental and Frontier Research Project of Chongqing (cstc2017jcyjAX0380), Scientific and Technological Research Foundation of Chongqing Municipal Education Commission (KJ1704083).


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Copyright information

© ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering 2018

Authors and Affiliations

  • Mu Zhou
    • 1
    Email author
  • Maxim Dolgov
    • 1
  • Yiyao Liu
    • 1
  • Yanmeng Wang
    • 1
  1. 1.Chongqing Key Lab of Mobile Communications TechnologyChongqing University of Posts and TelecommunicationsChongqingChina

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