High Accuracy Indoor Imaging Positioning Algorithm Based on Angle Feedback with Visible Light

Paper puts forward an imaging positioning algorithm, timely obtaining the acceleration parameters in the inertial frame of triaxial accelerograph of intelligent mobile terminal IMU (Inertial measurement unit) and then taking use of angle feedback principle to indirectly get attitude information of mobile terminal. Through using attitude information as pre-setting parameters which will be involved in imaging positioning UKF (Unscented Kalman Filter) decoding process, restraining the predicted value of observing state to control the range of the optimal solution and avoiding falling into locally optimal solution, the final positioning calculation will be achieved. Theory simulation results show that the proposed algorithm can achieve millimeter-leveled high precision indoor positioning.