An indoor fusion navigation algorithm using HV-derivative dynamic time warping and the chicken particle filter

The use of dead reckoning and fingerprint matching for navigation is a widespread technical method. However, fingerprint mismatching and low fusion accuracy are prevalent issues in indoor navigation systems. This work presents an improved dynamic time warping and a chicken particle filter to handle these two challenges. To generate the Horizontal and Vertical (HV) fingerprint, the pitch and roll are employed instead of the original fingerprint intensity to extract the horizontal and vertical components of the magnetic field fingerprint. Derivative dynamic time warping employs the HV fingerprint in its derivative form, which receives higher-level features because of the consideration of fingerprint shape information. Chicken Swarm Optimization (CSO) is used to enhance particle weights, which minimizes position error to tackle the particle impoverishment problem for a fusion navigation system. The results of the experiments suggest that the enhanced algorithm can improve indoor navigation accuracy significantly.