An Indoor Map Matching Algorithm Based on Improved Particle Filter

In order to correct the location result of indoor map matching algorithm in inaccessible area, a map matching algorithm based on particle filter multiple weight update is proposed in this paper. The map matrix is built on the raster map to make full use of the map information, and the five weights of map are calculated by the map matrix to improve indoor map matching accuracy. Meanwhile, the modified wall-penetrating detection method is realized by testing the values of map information matrix elements in the circular particle trajectory to reduce the map matching algorithm calculation amount. The accuracy and effectiveness of the proposed algorithm are verified by simulation and field measurement.