Adaptive Kalman filtering method oriented for WiFi/PDR indoor integrated positioning

The invention discloses an adaptive Kalman filtering method oriented for WiFi/PDR indoor integrated positioning. The method comprises: first, holding by a user a terminal device in a targeted area to receive the RSSI from each AP; in a lognormal distribution path loss model, using the weighted least squares method to obtain the location of the user and at the same time, through the estimation model in the PDR algorithm, obtaining the location of the user; then using the adaptive Kalman filtering to integrate the positioning information based on the propagation model with the positioning information from PDR for multiple times to obtain the best location of the user, wherein the adaptive Kalman filtering is reflected in the feedback mechanism, that is, each integration positioning result dynamically corrects the path loss index and other parameters of the weighted least squares method so as to ultimately make the propagation model more in line with the indoor environment. The method solves the problems of low