An orientation-Independent Geomagnetic Indoor Localization Method for Mobile Phone

Due to the increase of human indoor activity time, indoor positioning technology attracts more and more researchers. This paper presents an orientation-independent indoor magnetic localization methodology for mobile phone. Unlike the existing method, the localization method proposed in this paper is not affected by phone posture or heading. Through coordinate transformation and sensor ellipsoid fitting correction, an invariable horizontal-vertical model fingerprint of specific location can be acquired. With the assistance of particle filter, an indoor positioning method with 0 ~ 1.2 m accuracy can be realized from any start position. Compared with existing methods, this method has higher practicability and accuracy.