Geomagnetic indoor positioning method based on gated recurrent neural network and particle filtering

The invention discloses a geomagnetic indoor positioning method based on a gated recurrent neural network and particle filtering. According to the method of the invention, the gated recurrent neural network is trained through a built geomagnetic indoor database to perform matching and positioning of geomagnetic track signals;the trained gated recurrent neural network is used for matching and positioning, so that better positioning precision can be brought to matching and positioning of the geomagnetic track signals. Compared with a common geomagnetic track signal matching algorithm based on dynamic time planning, the trained model reduces the real-time calculation amount in the matching and positioning process. According to the method of the invention, a system for performing real-time positioning is designed while a particle filtering algorithm is adopted on the basis of performing matching and positioning on the geomagnetic track signals by the neural network model. According to the system, the advantage of