Aiming at the problem that the number of commercial Wi-Fi access points (AP) antennas restricts the high-precision positioning based on angle of arrival (AoA)

this paper proposes an indoor real-time positioning algorithm based on Wi-Fi signal. An AoA estimation algorithm using Wi-Fi is proposed

which can quickly estimate the AoA of the line of sight (LoS) path with few antennas and snapshots to ensure real-time positioning. The IEEE 802.11 Saleh-Valenzuela (S-V) channel model analyses the influence of multipath signals on the energy spectrum peaks of direct signals. In order to improve the positioning accuracy

a multi-AP joint positioning algorithm based on antenna selection is proposed. A real-time positioning demonstration system is built to verify the effectiveness of the system. The experiment results show that the proposed algorithm can achieve 67% 1.2m positioning accuracy and the positioning delay is less than 0.5 seconds.