Pedestrian indoor walking positioning method, device and storage medium

• Main Authors: MA LI, YANG RONGKAI, CAI JING, WU JINKAI, CAI CHENGLIN, GU HONGHAO, WANG XIANGYANG
• Format: Patent
• Language: Chinese; English
• Published: 25.12.2018
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention provides a pedestrian indoor walking positioning method, device and storage medium. The method comprises: obtaining original data of the walking target pedestrian through a monitoring device arranged at the foot of the target pedestrian, wherein the original data comprises state parameters and geomagnetic characteristic quantities; solving the state parameters to obtain walking parameters and eliminate the error of the walking parameters; performing position estimation according to the walking parameters of which the error is eliminated to obtain the position estimation data of the current position of the target pedestrian; matching the geomagnetic characteristic quantities with the geomagnetic characteristic quantities in the geomagnetic fingerprint database to obtain current geographic position data of the target pedestrian; and calculating the position estimation data and the current geographic position data according to a particle filtering algorithm to obtain the current position of the tar