In recent years, using smartphones for indoor positioning has become increasingly popular\nwith consumers. This paper presents an integrated localization technique for inertial and magnetic\nfield sensors to challenge indoor positioning without Wi-Fi signals. For dead-reckoning (DR), attitude\nangle estimation, step length calculation, and step counting estimation are introduced. Dynamic time\nwarping (DTW) usually calculates the distance between the measured magnetic field and magnetic\nfingerprint in the database. For DR/Magnetic matching (MM), we creatively propose 3-dimensional\ndynamic time warping (3DDTW) to calculate the distance. Unlike traditional DTW, 3DDTW extends\nthe original one-dimensional signal to a two-dimensional signal. Finally, the weighted least squares\nfurther improves indoor positioning accuracy. In the three different experimental scenarios-teaching\nbuilding, study room, office building-DR/MM hybrid positioning accuracy is about 3.34 m.
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