关键词: iOS平台, 惯性, 室内定位, 扩展型卡尔曼滤波器, 零速度修正

Abstract: To meet the requirements of realizing three-dimensional indoor positioning without global positioning system and other wireless networks, an inertial indoor positioning algorithm is proposed. In this algorithm, the three-dimensional acceleration is obtained by combining the accelerometer with the gyroscope. The three-dimensional velocity and position are then calculated by integral. A zero velocity update method is used to improve the positioning accuracy and rate of success. The detection of motionless status between moving steps is judged by combining the magnitude of angular velocity with the magnitude and variance of acceleration. An extended Kalman filter is designed for this method to correct the velocity and the position. The proposed inertial indoor positioning system is realized based on the iOS platform, and its effectiveness is verified.

Key words: iOS platform, inertial, indoor positioning, extended Kalman filter, zero velocity update