Due to the low accuracy of sensors in smart phones, there is a large error in the direction data of the Pedestrian Dead Reckoning（PDR） algorithm, and the error will increase with the accumulation of steps. A particle filter algorithm is proposed to correct the direction error by setting the direction attribute in each particle and added the direction angle deviation. Meanwhile, in view of the drift error generated in the PDR algorithm, this paper uses iBeacon as a landmark to corrected the error, and uses the signal strength value correction condition set landmarks to determine whether pedestrians out landmarks, make iBeacon landmark conduct reasonable correction. The experimental results show that the accuracy and rationality of the position estimation by the particle filter algorithm are further improved after the conditional landmark correction.

%U http://cea.ceaj.org/EN/10.3778/j.issn.1002-8331.1904-0263