1results about How to "Increase the output frequency" patented technology

The embodiment of the application discloses an indoor positioning method, device, mobile terminal and storage medium, the method comprises: predicting the state of the mobile terminal at the target time based on acceleration and angular velocity, obtaining first state information; height estimation is carried out based on acceleration and first height, and second height is obtained; the first state information is corrected based on the first height, the second height and the pseudo-range observation value, and the second state information is obtained; indoor positioning is carried out based on the second state information and indoor map information. In this way, the accuracy and reliability of indoor positioning by the pseudolite are improved by fusing the multi-source data collected by the sensor system. Especially, the second height (fusion of the acceleration measured by the accelerometer and the first height measured by the barometer) can compensate for the adverse effects of the large vertical geometric dilution of precision of the pseudolite layout on height positioning, improve the accuracy of height estimation, and thus improve the accuracy of floor positioning.