The invention discloses a PDR
step counting method assisted by sound, and belongs to the technical field of indoor navigation and localization. Triaxial acceleration and triaxial
angular velocity data are collected through an inertial sensor of a
smart phone, environmental audio data are collected through a
microphone, and synchronization is carried out based on a unified
time sequence; identifying the current carrying state of the
mobile phone; starting a corresponding audio analysis model according to the carrying state, and extracting a specific acoustic event related to the
gait cycle from the environment audio; performing preliminary
gait detection on the inertial data, and extracting candidate
gait cycles and step numbers; the sound
event sequence and the inertial gait sequence are subjected to space-time matching and fusion,
step counting correction is achieved through matching
verification, missed step compensation and wrong step
elimination, and the high-confidence-coefficient
step number is output; interference of a single sensor in complex carrying
modes and various motion states can be effectively suppressed,
step counting accuracy, environmental adaptability and
system robustness are remarkably improved, and the method is suitable for PDR positioning of large indoor scenes such as airports and terminals.