A real-time indoor tracking system by fusing inertial sensor, radio signal and floor plan

The rapid growth of ubiquitous applications and location-based services has made indoor navigation an interesting topic. Some indoor localization solutions exploit radio information and Inertial Measurement Units (IMUs), which are embedded in most of the modern smartphones. In this paper, we present a real-time indoor localization approach that fuses WiFi Receiving Signal Strength Indicator (RSSI) readings, IMUs, and floor plan information in an enhanced particle filter. The algorithms are designed and implemented into a terminal-based system, which uses commercial smartphones and WiFi access points. Extensive real-world experiment results show that our tracking method can achieve the average tracking error of 1.7 meters and 90% accuracy of 3.2 meters.