Line-Constrained Trajectory Correction for Indoor Pedestrian Positioning

This paper presents an indoor pedestrian positioning method that considers the line-constraint of trajectory and the correction based on historical heading. Firstly, the height is determined with the aid of barometric data fusion. Then, the pedestrian's historical states are evaluated to determine if they are walking on a straight-line trajectory. The trajectory heading of other floors that meet the conditions are updated using the more accurate heading characteristics of the initial floor. The unconstrained position estimate is limited to the constrained set by using the projection method and the final positioning result is given. Finally, the effectiveness of this localization method was demonstrated via an indoor experimental validation.