Indoor Localization Algorithm Based on Cooperative of State Matrix and Kalman Filter
Wireless location is a key technology for wireless sensor networks (WSN). This paper firstly describes a wireless location system based on nanoLOC chip which can provide both high-accuracy location and data communication. Secondly, we present an indoor location algorithm based on cooperative of state matrix and Kalman filter (State-LKalman), and apply it to the time of arrival(TOA) algorithm of the wireless location system. Simulation results show that the State-LKalman has high accuracy than the cooperative of least square error (LSE) and Kalman filter (LKalman) algorithm. Finally, we describe the design of the hardware and software of the system and do the experiments on the platform. Experimental results show that the system is stable and reliable and can achieve high accuracy location; the cumulative probability of 1.5 meter error can achieve 50%.