The invention provides a 
pedestrian inertial 
positioning system based on indoor 
magnetic field feature assistance. The 
system comprises a 
magnetic field and inertial data obtaining module, a 
magnetic field positioning module, a 
pedestrian dead reckoning module, a positioning fusion module and an output module, wherein the magnetic field and inertial data obtaining module is used for acquiring magnetic field, accelerated speed and 
angular velocity information; the magnetic field positioning module is used for building a magnetic field feature 
library and carrying out time-
frequency analysis on the magnetic field vector sequence in real time to extract the time-frequency feature, and matching with the magnetic field feature 
library to carry out magnetic field feature positioning; the 
pedestrian dead reckoning module is used for updating accelerated speed and 
angular velocity zero offset according to the condition that the step velocity discontinuity is zero during walking, judging the 
step number and calculating the step length and the direction of each step; the positioning fusion module is used for fusing a magnetic field feature positioning result and a pedestrian 
dead reckoning inertial positioning result by means of 
particle filter; and the output module is used for displaying a positioning result on web pages and terminals. The 
system provided by the invention has the characteristics of being independent from 
beacon during positioning, low in cost and consumption of positioning terminals, accurate in positioning result and adaptive to environment change.