Research of indoor localization based on inertial navigation technology

This paper presents the inertial navigation technology applied to three dimensional firefighters indoor positioning system research. The basic principle is through the inertial measurement unit to obtain three-dimensional acceleration and position information in the process of firefighter's movement. In order to improve the positioning accuracy, this paper proposes a zero velocity correction method based on Kalman filtering to suppress the accumulated error in the process of equipment movement. Finally, the method of graph theory to extract building interior network, matching inertial navigation trajectory and location information with building road network.