Research on Indoor Positioning Method Based on VLP/INS Fusion Positioning

With the continuous growth of indoor positioning requirements, a single positioning technology is difficult to meet the continuous and high-precision positioning requirements. Aiming at the serious occlusion and signal loss of satellite signals in a closed urban environment, this paper proposes an indoor positioning method VLP/INS fusion positioning. This method combines the instantaneous high-precision positioning result of visible light positioning (VLP) and the advantage of inertial navigation positioning (INS) for continuous navigation without assistance, overcomes the limitations of a single technology, and improves the positioning accuracy. In order to further improve the accuracy of visible light positioning, a fingerprint positioning algorithm is adopted to achieve more accurate positioning, and then the unscented Kalman filter algorithm is used to complete the data fusion with the INS positioning result. The proposed method was simulated in a space of 5 <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mathrm{m}\times 4\mathrm{m}\times 2.6\mathrm{m}$</tex>. The results show that this method can achieve continuous positioning with an average positioning error of 22 cm, has good continuous tracking function for the carrier trajectory, and can provide continuous and high-precision positioning services in an indoor closed environment.