An indoor positioning method integrating inertial data, map information and pedestrian motion state

Recently, the positioning technology has advanced rapidly, however, the outdoor positioning technology with high positioning accuracy can't be applied effectively indoors. Therefore applied to indoor positioning methods such as inertial positioning system has always been a research hot spot. This paper presents an indoor location method integrating inertial data, map information and pedestrian motion state. This method involves collecting the inertial data of pedestrian motion in real-time, calculating the current coordinates of the pedestrian, detecting pedestrian movement state in real-time, and correcting positioning coordinates. Based on the characteristics of indoor key landmarks and the motion state characteristics of pedestrians at key landmarks. Firstly, collecting the motion data of pedestrians by inertial sensors placed on the pedestrian's waist, then extract the features from the data and use the classifier to establish the pedestrian movement state model. Last, utilizing this model to identify the pedestrian motion state, and then infer the key landmark type where the pedestrian is located. Through the simulation demonstrate that this method can make the positioning error always be in a narrower range, fulfill the indoor scenario of low precision inertial sensor positioning requirements, and has the value of application and promotion.