The invention discloses an indoor dynamic continuous positioning method fusing a smartphone built-in sensor and Wi-Fi (
Wireless Fidelity). The method comprises the following steps: (1)
motion mode identification: smart mobile electronic
terminal equipment identifies various motion states of indoor
pedestrian through a fused multi-source sensor; (2) improved Wi-Fi positioning:
algorithm improvement is made specific to
signal characteristics of the motion states in order to improve Wi-Fi positioning performance in the motion states; (3) PDR (
Pedestrian Dead Reckoning) positioning:
dead reckoning is performed on the indoor
pedestrian to obtain position estimate, and a
confidence region is established in conjunction with the motion states; (4) trust chain positioning fusion (TCPF): trusted point decision is made through the
confidence region and a Wi-Fi positioning result, a confidence
locking mechanism of dynamic continuous positioning is established through a
finite state machine, and finally, two positioning estimated positions are fused dynamically to obtain optimal positioning position estimate. By adopting the method, the influence of Wi-Fi
signal instability during motion on positioning performance is lowered, the problem that positioning errors accumulate over time is solved, and the accuracy and stability of indoor dynamic continuous positioning are improved.