In order to achieve the pedestrian trajectory estimation in indoor environment without GPS,an algorithm for indoor pedestrian based on the inertial sensors and WiFi of the mobile phone is designed.The algorithm mainly uses particle filtering,an accelerometer,agyroscope for pace detection,the rotation angle projections of the step,and uses a kind of WiFi landmark that based on intensity trends.The experimental results show that the optimized pedestrian trajectory is close to the real trajectory.In the case o...
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