Abstract: PDR technology based on the smartphone platform has become a hotspot in indoor positioning research at home and abroad because of its mature technical conditions and ease of realization on a wide scale. However, the accuracy of smartphone sensors is limited, and the geomagnetic information in the indoor environment will be interfered with by the indoor electromagnetic environment, which will affect the positioning accuracy of the PDR algorithm. Therefore, this paper proposes a smartphone heading optimization method based on the Kalman filter, with the smartphone as the research carrier. The theoretical study and field test are conducted by fusing the geomagnetic and gyroscope sensor data of smartphones, and the heading accuracy in the PDR algorithm is optimized. The average error of the optimized positioning improved to 1.36 m.

Key words: Kalman filtering, indoor localization, PDR algorithm, gyroscope, smartphone