Indoor positioning based on tightly coupling of PDR and one single Wi-Fi FTM AP

Figures & data

Algorithm 1 : Step Detection

Figure 1. Block diagram of LC integration algorithm of PDR and Wi-Fi ranging.

Figure 2. Maps of the experimental scenes.

Figure 3. Step detection results.

Figure 4. Short-term PDR results.

Figure 5. Four testing initial positions.

Figure 6. Testing results of four initial positions.

Figure 7. Two experimental routes in the two indoor scenes.

Figure 8. Comparison of the trajectories estimated by the original PDR, LC, and TC methods.

Figure 9. Comparison of the errors in each evaluation.

Figure 10. Comparison of the statistical errors.

Figure 11. Comparison of the CDF errors.

Data availability statement

The data and materials that support the findings of this study are freely available upon request from the corresponding author (corresponding author’s e-mail: [email protected]).