Indoor geolocation by inertial navigation

An inertial navigation system enhanced by a particle filter based on a dynamic motion model is shown to provide accurate indoor geolocation of a user despite no pre-installed infrastructure inside the building, no external assets, no environmental information, and no other information other than the geographical extent of the building. The inertial navigation system includes a new method of zero-velocity updates that accommodates nearly all modes of motion. The design of a particle filter with an optimal importance function to refine the tracking of a user is presented. Experimental data are used to assess the potential accuracy of the indoor geolocation method.