Aiming at the problem that at present

displacement of most fire-fighting positioning systems is obtained by integrating acceleration twice

but the precision of sensor and data drift will make the positioning results of this method have great errors

a scheme of separating motion process by using human motion characteristics is proposed.Firstly

the motion state is identified and separated according to the motion characteristics to avoid drift error caused by static state integration.Optimizing zero velocity correction technology.In order to reduce the cumulative error

velocity correction is carried out at the addition and subtraction stage of a single motion state combined with motion characteristics.The position calculation results are obtained

which are independent of external equipment

low cost and strong anti-jamming ability.It provides a new method for firefighter indoor positioning.