Aiming at motion characteristics of indoor positioning pedestrian and positioning precision reducing problem of inertial device MPU6050 caused by the level difference of each fixed position

a zero bias correction algorithm is proposed. The algorithm uses data obtained by inertial devices in pedestrian static state to process the data by means of mean value

that is dynamic walking data of pedestrian is subtracted from the mean value of static data

which reduces error of horizontal position. Aiming at the problem that the drift error of the inertial device itself is accumulated in the double integral navigation algorithm and result in accurate localization

an improved zero velocity correction algorithm and a frequency domain integral algorithm are proposed. According to the advantages and disadvantages of mobile phone electronic compass and inertial device built-in gyroscope

fuse their data

more accurate pedestrian heading angle can be obtained with the moving average filtering and angle compensation algorithm

movement trajectory of pedestrian is obtained by combining the displacement data with directional data and simulation verification is carried out. Experimental result show that the proposed algorithm can effectively improve the precision of indoor positioning.