The feasibility and accuracy of indoor positioning became a hot topic research in location based services.According to the increase of mobile smart terminal, a new positioning method based on inner micro inertial sensors was promoted in this paper.Allan variance was used to analyze inertial devices′error parameters, and a filtering de-noise scheme based on spectral analyze was adopt-ed to improve the signal noise ratio of devices′output.Combing people′s moving feature, Gait was determined and provide a basis for the realization of zero velocity update.A local area magnetic information database was established to accomplish Kalman combination error correction of magnetic matching and zero velocity correction.Experimental result of indoor navigation testified the feasibility of in-door navigation theory based on micro inertial technology.%室内定位方法的可行性及准确性成为位置信息服务体系的研究热点，针对移动智能终端普及率的提高，提出了基于内置微惯性传感器的定位理念。通过采用Allan方差分析惯性器件误差参数，并基于频谱分析采用滤波降噪方案提高器件输出信噪比，结合人体运动特征准确判定步态，为零速修正算法的实现提供依据，通过建立局部区域的地磁信息数据库，实现磁匹配零速修正卡尔曼组合误差修正。实验结果验证了基于微惯性技术的室内定位方法的可行性。
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