# Indoor Navigation Algorithm Based on a Smartphone Inertial Measurement Unit and Map Matching

arXiv: https://arxiv.org/abs/2109.11706 · HTML: https://mlsanity.com/paper/2109.11706/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Sep 2021.

## Built on by (most cited first, 1 of 1)

- [Machine Learning-Based GPS Multipath Detection Method Using Dual Antennas](https://mlsanity.com/paper/2204.14001/) (2022)

## Abstract (arXiv)

We propose an indoor navigation algorithm based on pedestrian dead reckoning (PDR) using an inertial measurement unit in a smartphone and map matching. The proposed indoor navigation system is user-friendly and convenient because it requires no additional device except a smartphone and works with a pedestrian in a casual posture who is walking with a smartphone in their hand. Because the performance of the PDR decreases over time, we greatly reduced the position error of the trajectory estimated by PDR using a map matching method with a known indoor map. To verify the proposed indoor navigation algorithm, we conducted an experiment in a real indoor environment using a commercial Android smartphone. The performance of our algorithm was demonstrated through the results of the experiment.