Indoor Positioning with Sensors in a Smartphone and a Fabricated High-Precision Gyroscope

  • Dianzhong ChenEmail author
  • Wenbin Zhang
  • Zhongzhao Zhang
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 516)


In the paper, an indoor positioning scheme combining pedestrian dead reckoning (PDR) and magnetic strength matching (MSM) is proposed. PDR is conducted by sensing acceleration and angular speed through the 3-axis accelerometer in iphone7 and a fabricated high-precision rotational gyroscope. Low bias stability (0.5°/h) of the gyroscope contributes to a small accumulative error in heading angle estimation. Through data analysis to outputs of the accelerometer and the gyroscope, human motion, such as walking a step, walking upstairs or downstairs, turning left or right, is recognized and walking path is reckoned with motion information. Magnetic strength is measured by the magnetometer in iphone7 and MSM positioning result is used to reduce error of reckoned heading angle. The error rate of downstairs/upstairs step count is low and after heading angle correction by MSM, a satisfactory indoor positioning result is obtained.


Indoor positioning Pedestrian dead reckoning (PDR) Magnetic strength matching (MSM) Modified dynamic time warping (DTW) algorithm 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.Communication Research CenterHarbin Institute of TechnologyHarbinChina

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