Accurate dynamic positioning method of unmanned self-following device based on Bluetooth and inertial sensor

A precise dynamic positioning method of an unmanned self-following device based on Bluetooth and an inertial sensor comprises the following positioning steps: 1) four Bluetooth base stations respectively obtain distances from the four Bluetooth base stations to Bluetooth beacons, and a four-point positioning algorithm is adopted to solve observation coordinate data; calculating prior coordinate data by using an inertial sensor; 2) fusing the prior coordinate data and the observation coordinate data through a Kalman filtering algorithm to obtain posterior coordinate data, and accurately positioning the unmanned self-following device; and (3) when a disconnection phenomenon occurs, taking the position coordinate of the Bluetooth beacon which is positioned at the last time before disconnection as a target point, performing inertial navigation by using an inertial sensor, controlling the unmanned self-following device to move to the target point to wait for reconnection, reconnecting the Bluetooth signal or recon