Journal of Jilin University(Engineering and Technology Edition) ›› 2026, Vol. 56 ›› Issue (3): 860-868.doi: 10.13229/j.cnki.jdxbgxb.20240931

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Two⁃stage indoor bluetooth localization method based on MWKNN⁃PF

Ning ZHOU1,2,3(),Shao-gang LEI3,Dong-sheng ZHAO3,Dun WU2   

  1. 1.School of Civil Engineering and Architecture，NingboTech University，Ningbo 315100，China
    2.Popsmart Technology （Zhejiang） Co. ，Ltd. ，Ningbo 315100，China
    3.School of Environment and Spatial Informatics，China University of Mining and Technology，Xuzhou 221116，China
  • Received:2024-08-25 Online:2026-03-01 Published:2026-03-31

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Abstract:

To address the issues of the high computational load for fingerprint matching and the dependence of positioning accuracy on the fixed K valuein the weighted K-nearest neighbor （WKNN） algorithm for bluetooth pedestrian localization， a modified WKNN （MWKNN） algorithm is proposed for the initial localization of the target. To further enhance positioning accuracy， a particle filtering algorithm is introduced， using the initial localization resultsfrom the MWKNN algorithm as measurement values to update the particles，and ultimately achieves precise target localization. Experimental results indicate that the proposed MWKNN-PF algorithm improves positioning accuracy by 41.8% and reduces computation time by 59.6%. This algorithm provides more accurate and real-time indoor pedestrian localization for related applications.

Key words: indoor localization, bluetooth fingerprint, K-means clustering, weighted K-nearest neighbor, particle filtering

CLC Number: 

  • TP393

Fig.1

MWKNN-PF algorithm flow chart"

Fig.2

Indoor localization test scenario"

Fig. 3

Localization trajectories of four algorithms"

Table 1

Localization results of four algorithms"

定位精度WKNNMWKNNMWKNN-PF文献［1］算法
均方根误差/m1.6651.2910.9691.109
最大误差/m2.9852.6622.0062.295
最小误差/m0.2720.1130.0970.034
时间/s1.2380.4360.5021.326

Fig.4

Cumulative distribution function of localization error"

Fig.5

Localization accuracy of the MWKNN-PF algorithm under different parameters"

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