Practical Evaluation of Smartphone-based Multi-Floors Indoor Positioning System using Enhanced Pedestrian Dead Reckoning and Map Calibration

Global Navigation Satellite Systems (GNSS) have been widely used in outdoor navigation. However, the problem of signal attenuation and shadowing effect is serious in an indoor environment. Hence, an accurate smartphone based multi-floors Indoor Positioning System (IPS) that can guide users through indoor environments, where similar corridors and rooms across multiple floors are commonplace, is highly desired. In this paper, we have implemented an indoor positioning system using an enhanced Pedestrian Dead Reckoning (PDR) scheme without any external sensors on commercially available smartphones. And it is evaluated in a real practical indoor environment that simulates normal user traveling routes through multiple floors and corridors, conducted by several users with different strides and walking patterns in order to evaluate its performance across different individuals. The evaluation result showed our system can achieve a mean accuracy 2. 59m in a multi-level building including an 80mx16m area on each floor without any floor estimation error.