基于INS定位和WIFI指纹定位技术的无人机室内定位方法研究

针对无人机室内定位问题，提出了一种基于惯性导航系统（INS）和WIFI指纹定位技术的四旋翼无人机的室内定位方法。该方法首先利用WIFI模块测量的信号接收强度信息，根据WIFI指纹定位原理求出该定位时刻下的无人机位置；同时，利用惯性传感器信息计算出INS定位下的无人机位置，结合两种定位结果得出更为精确的位置。最后，通过实验验证了INS定位和WIFI指纹定位相结合的无人机室内定位方法的有效性，且该方法较两种单独定位方法的定位精度更高。

Research on Indoor Localization of UAV Based on INS and WIFI Fingerprint Technology

Aiming at the problem of UAV indoor positioning, a four-rotor UAV indoor positioning method based on the combination of inertial navigation system (INS) and WIFI fingerprint positioning technology is proposed.The method first uses the RSS information measured by the WIFI module to obtain the position of the drone at the positioning moment according to the principle of WIFI fingerprint positioning, and uses the inertial sensor information to calculate the position of the drone under the INS positioning.The positioning results under the method are fused to obtain a more accurate position.Finally, experiments verify that the UAV indoor positioning method based on the combination of INS positioning and WIFI fingerprint positioning is effective and the positioning with this method has higher accuracy.