Research And Implementation Of Indoor Positioning Algorithm Based On The Inertial Sensors Embedded In The Phone

Along with the rapid development of technology and the economy,smart phones have seeped to each household,and become the essential daily necessities to people.The realization of localization function is the huge breakthrough in the field of phone application.Along with the development of transportation,people's positional information has become more and more important day by day.In the present stage,the technology of positioning that realized by GPS has become the basic function of smart phones,and it is very convenient for traveling by using the technology.But obstacles of building et al and the complex indoor environment make the GPS positioning technology unsuitable indoor.In order to solve the problem,in this thesis,the function of indoor positioning using inertial system which embedded in the smart phone are researched and implemented.The technology of inertial indoor positioning is the most newly-developing indoor positioning technology among indoor positioning technologies.Recent years,with the continuous unceasing microminiaturization of sensors and the high speed development of smart phones as well as the unceasing reduction of its price,the technology of indoor positioning using inertial sensors embedded in smart phones is becoming one of the most valuable technique.In addition,there is no such method of indoor positioning that universally used at present.As a result,inertial indoor positioning technology is a very challenging and prospective research topic.Firstly,in this thesis,inertial sensors embedded in smart phones are introduced in detail and analyzed,which include the principle of related inertial sensors and the coordinate system of inertial sensors.Then,the fuse of related inertial sensors is researched and analyzed,and applications are demonstrated.Secondly,based on Pedestrian Dead Reckoning,in this thesis,the principle of PDR is introduced.On this basic,the estimation methods of step count,stride and orientation of pedestrian are researched,an optimization method of the estimation of stride is put forward,which set a state value stating the status of pedestrian's movement,and make the estimation procedure concise.Finally,in this thesis,the indoor positioning client that based on android phone inertialsystem is designed and realized.The real-time positioning and tracking by fusion of inertial sensors is implemented.The method of sensors' data acquisition and procession is illustrated,including Weinberg approach,the use of filter and window processing.The client is successfully installed and worked when tested on the android smart phone.Test the client in the condition of different route planning and verify its function of positioning.