Indoor Positioning System with IMU, Map Matching and Particle Filter

Position information of pedestrian is nowadays very important in many applications. Global Navigation Satellite System is not suitable for indoor navigation because of signal strength attenuation and multipath effects. The positioning techniques based on wireless radio signal, such as Wireless Local Area Network, require additional infrastructure that cannot be used freely. We propose a novel position estimation scheme exploiting a smartphone with inertial measurement unit (IMU). In the proposed scheme, step detection, step distance estimation and orientation are estimated by using inertial sensors of smartphone. Map Matching and particle filter techniques are applied to improve performance of positioning. The proposed scheme has improved the performance of about 60% than the conventional scheme. Key-Words: Indoor Positioning, inertial sensor, map matching, particle filter, pedestrian dead reckoning (PDR)