Abstract: Due to multi-path effect and electromagnetic interference, RSS-based indoor positioning systems has lower accuracy. Aiming at this shortcoming, this paper proposes an indoor positioning scheme of a heterogeneous wireless sensor network (WSN) by integrating RSS and inertial measurement. The distributed consensus cubature information filters with credibility evaluation is utilized to estimate target positions collaboratively. An event-triggering mechanism is introduced to awaken the sensor nodes when the strength of RSS signals are satisfied for improving the network anti-interference and reduce network energy consumption. It is shown from the simulation and experiment results via mobile cars that the proposed method has higher positioning accuracy than a single positioning method, and remarkable anti-interference performance. Moreover, the distributed positioning scheme and event-triggering mechanism can effectively reduce network energy consumption.