A Method of Map Matching in Indoor Positioning

Compared with Outdoor Vehicle Navigation, personal motion state is more complex. The spatial distribution of indoor space environment is relatively complex. The attributes of the room is different from the corridor. This paper studies indoor map matching technology based on personal motion state. The indoor environment abstract space model theory is proposed, in which the Spatial Data of indoor map is studied in detail. The information of the Inertial Measurement Unit from the mobile terminal is combined with the abstract space model to further correct the wireless positioning results. For each compact structure region of indoor space environment and multiple personnel movement state, the method of map-matching proposed in this paper is combined with personnel movement direction, wireless location results and IMU. The optimal positioning point estimation is generated by probabilistic matching algorithm. The proposed map-matching can further restrain the indoor positioning error, and for indoor wireless coverage blind spots, this method can protect the continuity of navigation, improve user experience in indoor positioning and navigation.