Positioning Method of Weighted Centroid Aided Inertial Measurement

Aiming at the defects of low precision and time cumulative error, an external wireless signal weighted centroid localization algorithm aided inertial positioning method is designed in this paper. According to the signal strength of each anchor node received at the test point, the distance between the anchor node and the anchor node is obtained by using the attenuation model of the wireless signal. Three anchor nodes are used to measure the distance between the anchor node and the measured point. We can obtain the area to be measured according to the actual situation, the position of the measured point is obtained by the weighted centroid localization algorithm and a combined model of wireless signal aided inertial navigation system is established. The simulation results show that the method can greatly improve the positioning accuracy and restrain the divergence of the longitude error and latitude error.