Aiming at the problem of low localization precision of indoor WiFi and Bluetooth positioning separately

WiFi and Bluetooth total least squares（TLS） fusion localization algorithm based on multi-attribute cost function is proposed.In order to reduce the ranging error due to beacon node with instable RSSI

multi-attribute cost function is used to evaluate the positioning performance of beacon node comprehensively

and the optimal beacon nodes is selected to participate in fusion localization.Meanwhile consider the influence of the ranging error and beacon nodes deployment error in the positioning calculation

TLS algorithm is adopted to estimate the optimal position of unknown nodes for improving the localization precision.The simulation results show that the localization precision of the algorithm can reach 1.9 m with 95 % probability when RSSI noise standard deviation is 3 d Bm

anti-noise performance is obviously improved and localization error is significantly decreased compared with separate localization.