Study on indoor positioning and navigation algorithms based on the MEMS inertial devices and smartphone

Abstract

As accumulative error remains a problem in indoor positioning and navigation algorithm, a new indoor positioning and navigation algorithm based on the MEMS and electronic compass integrated in Smartphone was proposed. The navigation algorithm is based on the traditional inertial navigation algorithms, adopting the algorithm of zero velocity detection to detect the stationary state during people walking according to pedestrian walking characteristics. Then regulating speed and location information of pedestrians during their static moment through zero velocity update algorithm, as a result to improve the accuracy of navigation system. In addition, a large deviation of pedestrians heading is caused by gyroscope drift of MEMS inertial device, the algorithm regulating the pedestrians heading through electronic compass data of Smartphone which combined with particle filter algorithm, which improve the accuracy of pedestrians heading further more. In the end, the results of experiments indicate that the navigation error correction algorithm is feasible and effective.