A Study on Indoor Positioning Based on Attitude and Distance Estimations by Grid Search with Penalty Term

In this paper, we propose an indoor positioning method that combines a distance information obtained by the SOKUIKI sensor, an attitude information using the attitude sensor, and a structural information of the building. We align the distance from the terminal to the surrounding reflective surfaces and the tilt of two-dimensional plane for the terminal. The estimated position is the point where the sum of squares error between the distance obtained by the SOKUIKI sensor and the distance obtained from the structural information is minimized. In this paper, we evaluate the difference in the accuracy of position estimation with and without a penalty term based on the measurement data obtained by experiments.