Pedestrian track plotting method based on human motion state recognition

The invention discloses a pedestrian track plotting method based on pedestrian motion state recognition. The invention provides an improved PDR (Pedestrian Dead Reckoning) algorithm based on human body motion state recognition, aiming at solving the problem that a traditional PDR algorithm can only be used for a single state of normal walking and is difficult to meet actual application requirements. According to the algorithm, a pedestrian motion mode is divided into a walking state and a running state, the relation between the acceleration peak value and the motion state in the pedestrian motion process is fully considered, and the acceleration peak values in different motion states are obtained through experiments, so that a dynamic threshold value is set, and step counting detection and step length estimation in different states are realized. The improved PDR algorithm is applied to pedestrian positioning, the motion data obtained by an inertial measurement unit (IMU) when a pedestrian walks is utilized, a