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A s the exis ting indoor loca liza tion a lg o rith m based on dead reckoning has the disadvantages o f h igh cumula­ tive e rro r and lo w localization accuracy, an indoor loca liza tion approach based on map in fo rm a tion and partic le f i l te r w ith pos ition adaptive correction was proposed in th is paper. T he approach uses the know n map in fo rm a tion to con tro l the b ir th and death o f the partic les du ring the localization process,and adaptive ly adjusts the positions o f the compensating partic les in the resam pling stage according to the s itua tion o f partic le degeneracy, thereby correcting the object position. T he experim ental resu lts show th a t the proposed approach overcomes the shortcom ing o f cum ulative e rro r o f dead re­ ckoning a lgo rith m and im proves the localization accuracy.

基于地图信息和位置自适应修正的粒子滤波室内定位方法 (Indoor Localization Based on Map Information and Particle Filter with Position Adaptive Correction).