第10卷 第3期 导航定位学报 ，No. 3 2022 年 6 月 method of Dixon test is used to filter out the observation signal outliers, then the signal values with approximate Gaussian distribution are processed by weighted mixed experimental results show that, after three filtering processes, the least square and Gauss Newton positioning model are used for comparison, and the Gauss Newton positioning algorithm with DGMM weighted hybrid filtering has the highest accuracy, with an average positioning accuracy of m. Keywords:indoor localization; mixed filter;Gauss-Newton method; received signal strength indicator
TOA） [3]、达到角（angle of arrival, AOA）[4]和到 0 引言 达时间差（time difference of arrival, TDOA）[5]等； 基于无线传感网络的室内定位主要包括测 非测距算法主要包括质心算法[6]等。基于 RSSI 定 距定位和非测距定位[1]。其中，测距定位模型主 位方法具有硬件成本低、定位精度相对较高、硬件 要有接收信号强度指示（received signal strength 便于部署等优点，因此仍为解决室内定位精度问 indicator, RSSI） [2]、到达时间（time of arrival, 题研究的重点。
