Indoor positioning method and system based on PDR and geomagnetism

• Main Authors: GAN CAIJUN, CAI CHENGLIN, WANG YANA, XU DECHANG, LI SIMIN
• Format: Patent
• Language: Chinese; English
• Published: 22.12.2017
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses an indoor positioning method and system based on PDR and geomagnetism, the indoor positioning method is as follows: an accelerometer, a gyroscope and a magnetometer are arranged in an intelligent mobile phone, geomagnetic data of a positioning area can be obtained by the magnetometer, kriging interpolation algorithm is used to build a global geomagnetic reference map; when a user moves, the accelerometer and the gyroscope are used to obtain stride frequency, step length and direction angle information of the user to obtain PDR positioning results; and finally optimal positioning results of the user can be obtained by particle filter fusion algorithm, the positioning system includes a measuring module, a PDR positioning module, a particle filter module and a display module; the measuring module further comprises the accelerometer, the gyroscope and the magnetometer. The accelerometer, the gyroscope and the magnetometer are respectively connected with the PDR positioning module, and the