Enhanced INS/Wi-Fi Integration for Indoor Vehicle Navigation

For low-cost and continuous indoor navigation, an INSAVi-Fi （inertial navigation system/Wi-Fi） integrated system is expected to yield a synergetic effect resulting in higher navigation performance than using the standalone systems. In this paper, the authors explore the integration of Wi-Fi measurements with data from microelectromechanical systems based inertial measurement unit for indoor vehicle navigation. An enhanced integration, which employs adaptive Kalman filtering and vehicle constraints, is presented. One field experiment has been conducted in the corridor of a university building using a mobile robot vehicle. Two Wi-Fi based positioning approaches are considered for trajectory estimation. The numerical results show that the enhanced integrated systems provide higher navigation accuracy, compared to using corresponding standalone Wi-Fi positioning approaches and conventional INSAVi-Fi integrations.