Inertial navigation aid indoor navigation based on the establishment of accurate magnetic reference map

At present, there are various indoor positioning technologies, most of which need to establish a base station to achieve positioning. The cost of establishing a base station is high, and sometimes it is greatly disturbed by the influence of buildings. The indoor positioning accuracy without base station is not high, and the matching time is also long.In order to solve these problems, the experimental group first adopted magnetism as the primary measurement tool for indoor navigation and positioning. In addition, by using the Kriging method, the high precision magnetic reference map is established in the server to improve the positioning accuracy, and the inertial navigation technology is used to shorten the matching time. This paper mainly discusses the establishment of the Kriging method in the magnetic reference map and the localization matching algorithm of the inertial navigation auxiliary magnetic navigation. The experimental group verified and simulated the feasibility of this method, which can greatly improve the positioning accuracy and matching efficiency. (paper)