Indoor positioning technology is important for services and measurement based on indoor location information. Based on sensors such as accelerometer

gyroscope and magnetometer

a positioning method suitable for indoor walking is proposed

this positioning method obtains numbers of walking steps

step length and direction according to sensing signals and filtering algorithms

and using trajectory matching algorithm to correct trajectory data in order to obtain optimized trajecttory. According to positioning test in the actual scene shows that this method can accurately restore the walking trajectory and can be applied to practical interior scenes.