Abstract: MIMU is an autonomous positioning method, which is not disturbed by external environmental factors. This fixed location method has a high precision in short time location and the location method is suitable for measuring high speed objects. But the disadvantage is that the location error can accumulate with long time. The system of WiFi fingerprint indoor positioning technology, is suitable for indoor low speed moving objects positioning and single point positioning precision high, the system is not high realtime and depends on the location of the base station distribution. The advantages and disadvantages of the two positioning systems are analyzed. A centralized Calman filtering closed loop correction method is proposed to combine the two positioning systems into a combined positioning system, which can achieve complementary advantages. The simulation is carried out in MATLAB, and the MIMU／WiFi fingerprint combination indoor positioning system can be verified to further improve the precision of the indoor positioning system.