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To improve the accuracy of indoor pedestrian positioning, an indoor pedestrian positioning system with two-order Bayesian estimation based on Extended Kalman Filter (EKF) and Particle Filter (PF) is proposed in this paper. The presented system combines a foot-mounted inertial sensor, a Wi-Fi propagation model and building structure to make good use of these information resources. There are two updates in this system in order to limit the accumulative errors of inertial sensors. In the first update, the inertial navigation system (INS) is the main system in the calculation of pedestrian positioning, and Zero-velocity update (ZUPT) is introduced as the reference to correct the accumulative errors of INS based on EKF. To further limit the accumulative errors of inertial sensors, the estimated results obtained from the first update, including horizontal position information, are introduced as the observations based on PF in the second update; Pedestrian Dead Reckoning (PDR) is the main system in the calculation of pedestrian positioning, and the weight of particles is determined by the Wi-Fi propagation model, building structure information and output of the first update. The results show that the accuracy of positioning is effectively increased.

Performance Enhancement of Indoor Pedestrian Positioning with Two-Order Bayesian Estimation Based on EKF and PF