Footstep Detection for Indoor Positioning using Accelerometer and Magnetometer Sensor on Smartphone

Indoor positioning using inertial sensors can be used as an alternative to GPS because indoor GPS signals are weaker than outdoors. Inertial sensors such as accelerometers and magnetometers are already packaged in smartphone devices, so the use of smartphones for indoor positioning is an option. Footstep detection is essential in determining position indoors; in this study, footsteps were detected using the accelerometer sensor. While the heading direction is calculated using the Magnetometer sensor. Previous studies have shown that the position of the smartphone, when held, affects indoor positioning estimated. So in this study, it is proposed to use the angle of inclination. In addition, to identify the initial position, a marker in the form of a QR Code is used. The proposed approach consists of 5 processes, namely: calculating the tilt angle, detection of footsteps, calculating the heading direction, estimated displacement, and the estimation of the position. The error in the position estimation is used as a test parameter. The longer path length results in a smaller error than the shorter path.