Inertial navigation-based indoor positioning method and device

The invention provides an inertial navigation-based indoor positioning method which comprises the following steps: (1) acquiring gyroscope measured data and accelerometer measured data of a to-be-monitored carrier; (2) calculating the position of the to-be-monitored carrier; (3) judging whether a signal of a base station is detected; (4) calculating the particle propagation distance, direction of propagation and variation of the direction of propagation; (5) calculating particle propagation distance noise and direction noise, and calculating a particle position set; (6) calculating the particle weight according to the detected signal of the base station; and (7) resampling to obtain position estimation of the to-be-monitored carrier. The invention further provides an inertial navigation-based indoor positioning device which comprises a base station, an accelerometer, a gyroscope and a signal processing unit. A flexible positioning framework combining inertial positioning to be fused with base station data bas