Aiming at the problem of large positioning error of inertial navigation system based pedestrian indoor positioning algorithm,a high-precision three-dimensional indoor pedestrian location algorithm based on landmark matching is proposed.The algorithm only uses the inertial measurement unit(IMU)as a single sensor and includes four modules of speed constraint,heading constraint,horizontal position constraint and height constraint.The horizontal position constraint module can detect and establish landmark points in real-time according to the changes of heading angle,and a landmark matching degree function is designed to improve the accuracy of landmark matching.The multi-floor walking experiment shows that the proposed algorithm can improve the accuracy of pedestrian indoor positioning.Compared to the ZUPT algorithm and the ZUPT+HDE algorithm,the terminal point error of the proposed algorithm is only 0.3421 m,which is reduced by 82.6%and 68.3%respectively,and has certain engineering application value.
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