This invention discloses an indoor positioning method based on LTE
signal fingerprint matching and nearest neighbor observations constrained by PDR (Progressive Directional Recognition), belonging to the field of indoor navigation and
positioning technology. The method first performs
step count detection, step length
estimation, and heading
estimation based on MEMS sensor output to obtain PDR positioning results. Then, it uses the PDR positioning results and an indoor map to estimate LTE
signal propagation
model parameters online, quickly constructing a
fingerprint database, and obtaining location observations through
fingerprint matching. Simultaneously, it utilizes the peak variation pattern of the LTE
signal RSRP (Regressive Range Recognition Point) to identify antenna positions using
peak detection and threshold constraints, extracting nearest neighbor position, step length, and heading observations. Finally, it employs
unscented Kalman filtering to fuse the PDR results and the aforementioned observations in different scenarios. This invention requires no prior data, can adapt to changes in environment and equipment, and combines low cost with high accuracy, making it suitable for indoor
pedestrian positioning.