An RSSI-based weighting with accelerometers for real-time indoor positioning

The robot's positioning is a key factor for autonomous robotics. The RSSI from Wi-Fi access points is a famous technique because the Wi-Fi access points have been installed. However, the RSSI values depend on real-time envelopment. This paper proposes to use accelerometers in robots to reduce error from RSSI. This system consists remote robots that installs the ESP8266 and accelerometer MPU-6050. The proposes is to weigh between RSSI from the transceiver module and RSSI that are predicted from accelerometers. The results are shown that the localization error is reduced when compared with only RSSI technique. By using the weighting technique, the cumulative error from the predicted position is reduced when the position that calculates with RSSI technique is correct.