Using floor plan to calibrate sensor error for indoor localization

Some prior studies proposed the use of Pedestrian Dead Reckoning (PDR) for indoor localization, in which a small number of inertial sensors are put on the pedestrian. These sensors (such as a G-sensor and gyroscope) are used to estimate the distance and direction that a user travels. The effectiveness of a PDR system lies in its success in accurately estimating the user's moving distance and direction. In this work, we design a map matching algorithm to calibrate the sensor errors using building floor plans. The results of our experiment show that we can achieve an overall location error of about 0.48 meter.