Abstract: The ubiquity of sensor-rich smartphones provides opportunities for a low-cost method\nto track indoor pedestrians. In this situation, pedestrian dead reckoning (PDR) is a widely used\ntechnology; however, its cumulative error seriously affects its accuracy. This paper presents a method\nof combining infrastructure-free indoor acoustic self-positioning with PDR self-positioning, which\nverifies the rationality of PDR results through the acoustic constraint between a sound source and its\nimage sources. We further determine the first-order echo delay measurements, thus obtaining the\nmobile user position. We verify that the proposed method can achieve a continuous self-positioning\nmedian error of 0.19 m, and the error probability below 0.12 m is 54.46%, which indicates its ability to\neliminate PDR error, as well as its adaptability to environmental disturbances.
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