Aiming at the problem of low accuracy and require additional signal nodes of existing indoor localization methods

an indoor positioning method

which fuses PDR and geomagnetic matching based on firefly algorithm（ FA） optimized particle filtering. is proposed Compared to the traditional PDR algorithm

using finite state machine method to detect stride frequency

and the calculation amount is significantly reduced while ensuring the accuracy of the step detection. The firefly algorithm is used to optimize the sampling process of particle filtering

which makes the particles moving to the region with higher likelihood before weight updating

and the filtering precision is improved. The experimental result shows that the proposed algorithm can effectively improve the positioning precision and has important practical value.