In this paper, an indoor positioning method is presented for self-localization of a mobile device by combining Wi-Fi wireless location, strap-down inertial navigation systems (SINS), augment reality and ultrasonic positioning. Over the last few years, inertial sensors with low cost and mobile devices equipped with a camera and microphone have become available. Although inertial sensors exhibit large errors, augment reality and ultrasonic positioning can be used to correct the drift error based on this technology. On the other hand, INS sensors can interact with the Wi-Fi positioning system as they provide high-accuracy real-time navigation. The localization algorithm based on reliability for a variety of information fusion processing is proposed to adapt different indoor environment. Finally, the benefits of the proposed architecture are evaluated and compared with the pure Wi-Fi positioning method.
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