In this paper, we present the motion-awareness 3D PDRsystem for indoor navigation using smartphone. Inexisting MEMS based PDR system, because MEMS ismounted on shoes or helmet, the sensor axes are fixedregardless of user motion. But in case of usingsmartphone, the axes of sensor are changed according tothe user walking motion. To overcome this condition, wedetect the walking motion using pattern recognitionalgorithm with sensor measurements from smarthphoneand apply different PDR algorithms according to thewalking motion. The height information of pedestrian isalso estimated using the barometric pressure sensor in thesmartphone. The 3D position which is consisted of 2DPDR position and height information is provided to thepedestrian. Our system has several advantages in cost andavailability. No peripheral devices are needed forlocalization except smartphone because it contains thesensors used for the localization such as accelerometer,magnetometer, barometer and gyroscope and Wi-Fi card.We developed the android based application andexperimental results show the accurate positioning andtracking performance.
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