Utilizing Map Information for WLAN-Based Kalman Filter Indoor Tracking

Extended Kalman filter (EKF), which has long been used in the field of GPS positioning, has recently been used for indoor positioning, introduced extended Kalman filter (EKF) indoor positioning method based on Bluetooth signal strength. However, the error range of the EKF is so large when it was applied in WLAN tracking that we modified it to use K-NN method for the measurement of the EKF. Furthermore, this paper proposes an idea of improving accuracy of EKF tracking by adjusting parameter values referring to map information. Experimental results comparing our method with other previous methods are discussed.