Motion Modelling using Smartphones for Indoor MobilePhone Positioning

New generation of smartphone devices equipped with numerous embedded sensors like gyroscope, accelerometer and electronic compass, provide new opportunities for user positioning and tracking. In this paper, we present research on using smart phones for sensor driven indoor mobile positioning. Robots have more reliable motion models due to the existence of accurate sensors for self motion coupled with relatively simple kinematic constraints. By contrast, the problem of estimating human motion is considerably more complex and error-prone. A reliable motion model can help us develop a better indoor positioning scheme especially in areas with sporadic RF environment. In this study we show a simple of using IMU sensors as a reliable Motion Model.