Indoor positioning method of smartphone inertial sensor based on zero acceleration correction

The invention discloses an indoor positioning method of a smartphone inertial sensor based on zero acceleration correction. The method includes the steps of data acquisition, zero acceleration detection, attitude matrix estimation, position calculation and the like. In order to solve the problem of accumulated errors of strapdown inertial navigation devices, the invention provides a positioning method based on zero acceleration correction on the premise of not adding additional sensors. According to the method, the attitude information of a smartphone is corrected by using the detected zero acceleration state, so that the divergence of a reconstructed trajectory caused by the existence of the accumulated errors can be avoided, and more accurate positioning can be realized. Experimental results show that the trajectory obtained by the method provided by the invention can be well matched with a real trajectory, the accurate positioning of personnel can be realized, and the method can beapplied to an environment