METHOD FOR ESTIMATING INDOOR POSITION USING SMARTPHONE SYSTEM AND COMPUTER READABLE MEDIUM FOR PERFORMING THE METHOD

摘要

Indoor positioning method using a smart phone according to an embodiment of the present invention, based on the three-axis acceleration data measured from the accelerometer and the three-axis angular velocity data measured from the angular accelerometer Pitch axis rotation angle and roll axis rotation angle of the device coordinate system Calculate and calculate the first yaw axis rotation angle of the device coordinate system based on the calculated pitch axis rotation angle, roll axis rotation angle, and 3-axis magnetic force data measured from the geomagnetic machine, and calculate the second yaw axis rotation angle of the device coordinate system based on the 3-axis angular velocity data. The yaw axis rotation angle is calculated, and the yaw axis rotation angle of the device coordinate system can be calculated from the first yaw axis rotation angle and the second yaw axis rotation angle using a predetermined sensor fusion algorithm.