摘要： 针对室内外GPS/WiFi信号交织区定位模式反复切换、定位精度低的问题，提出一种基于灰色预测模型的融合定位方法。通过构造GM（1，1）模型得到当前定位模式下物体的灰色预测轨迹，利用几何方式将预测轨迹与待切换定位模式下的定位信息进行深度融合，实现精准定位。当预测轨迹与定位信息几何融合失败时，根据GPS接收卫星信号的数量判断是否切换定位模式。实验结果表明，与基于GPS和基于WiFi的定位方法相比，该方法具有较高的定位精度与较强的鲁棒性。

关键词: GPS室外定位, WiFi室内定位, 无缝定位, 灰色预测模型, 几何融合

Abstract: Aiming at the problems of repeated switching of positioning mode and low positioning accuracy of indoor and outdoor GPS/WiFi signal interleaving area,a fusion positioning method based on grey prediction model is proposed.The GM(1,1) model is constructed to obtain the object's grey prediction trajectory under the current positioning mode.The precise positioning is realized by using geometric method to deeply fusion the predicted trajectory with the positioning information in the positioning mode to be switched.When the fusion between the predicted trajectory and positioning information fails,the number of satellite signals will be used to decide whether to switch the location mode.Experimental results show that compared with the GPS-based and WiFi-based positioning method,the proposed method has better positioning precision and robustness.

Key words: GPS outdoor positioning, WiFi indoor positioning, seamless positioning, grey prediction model, geometric fusion

中图分类号: 

• TP391