Indoor positioning method based on adaptive particle filtering and storage medium

The invention discloses an indoor positioning method based on adaptive particle filtering and a storage medium, and the method comprises the steps: obtaining an initial position of a to-be-measured target, and initializing a particle set; according to the height and the stride frequency of the to-be-measured target and the maximum acceleration and the minimum acceleration at the current step, the step length of the to-be-measured target at the current step is calculated; according to the step length and the course angle of the to-be-measured target in the current step, respectively updating to obtain the particle position of each particle in the current step; acquiring a current fingerprint position, and updating to obtain a particle weight of each particle in the current step according to the current fingerprint position and the particle position of each particle in the current step; determining an adaptive coefficient according to the positions of the K reference points, and updating and normalizing the par