Indoor positioning is one of the core technologies of artificial intelligence (AI) in the future and will play a pivotal role in the upcoming era of AI.Currently,indoor positioning is one of the hot research topics in academic and industrial society.Google,as one of the leading information technology (IT) companies,has listed visual positioning service (VPS) as one of the core technologies.Apple has endeavored to prompt iBeacon,the low energy Bluetooth technology for indoor positioning.In cooperation with a Finnish company,IndoorAItas,Baidu launched an indoor positioning program with a magnetic matching approach.All these initiatives and new technologies have shown the significance and necessaries of indoor positioning.However,affected by the complexity of the indoor spaces,it is still challenging to achieve accurate,effective,full coverage and real-time positioning solution indoors.With the popularity of smart phones and the rapid development of MEMS sensors in recent years,many methods have been proposed to use the smartphone built-in sensors and RF radios for indoor positioning.In this paper,we focus on indoor positioning technologies for smartphones and classify the different technologies into two categories,namely the radio frequency (RF) technologies and the sensors technologies.The state-of-the-art of the technologies has been reviewed.The pros and cons of the technologies have been commented in the context of different application scenarios.Moreover,the challenges of indoor positioning have also been pointed out and the directions of the future development of this area have been discussed.%室内定位是未来人工智能的核心技术之一,对即将到来的人工智能时代起着举足轻重的作用.开发有效的室内定位新技术是工业界和学术界的研究热点,如谷歌研发的室内视觉定位服务技术、苹果致力推动的基于低功耗蓝牙的iBeacon室内定位技术以及百度携手芬兰IndoorAtlas公司推出的基于磁场匹配的室内定位方案等.然而,受室内复杂环境以及空间布局、拓扑易变等影响,实现准确、可靠、实时的室内定位,满足各类定位需求仍有很大的挑战性.目前,随着智能手机的普及和微机电系统技术的发展,智能手机内置多种传感器和支持丰富的射频信号,可提供不同的定位源.本文从智能手机的内置传感器和射频信号两个方面,综述了现有基于智能手机的室内定位技术,指出各种定位技术的优缺点和应用场景,分析室内定位的发展现状和存在难点,对室内定位技术未来的发展方向进行了展望.
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