The application provides a multi-
pose pedestrian indoor positioning method fused with visual information, comprising the following steps: S1. establishing a
mobile phone holding
pose recognition model; S2. determining the
mobile phone holding
pose by using the
mobile phone holding pose recognition model, and then compensating the heading angle of the PDR
algorithm; S3. introducing a judgment
algorithm to remove the meaningless compensation heading angle in the pose conversion process and redetermine the compensation heading angle; S4. based on the compensation heading angle redetermined in step S3, constructing a multi-pose PDR and outputting a positioning result; and S5. designing a PDR
error correction model based on visual position recognition, eliminating cumulative errors and further improving the positioning accuracy of the multi-pose PDR. The multi-pose
pedestrian indoor positioning method fused with visual information can adapt to the pose transformation of pedestrians and can correct the cumulative errors in real time, can enhance the precision and robustness of the
pedestrian indoor positioning in the case of reducing the burden of the
positioning system on the pedestrians and compressing the positioning cost to the greatest extent.