IMU indoor positioning method

The invention provides an IMU indoor positioning method which comprises the following steps: step number detection: obtaining acceleration data in Z-axis direction through an acceleration sensor and calculating the number of walking steps by utilizing a step number detection algorithm; adaptive step length estimation: according to relevant data along the walking direction and combining an adaptive step length estimation algorithm, obtaining the distance of one walking step of a user, wherein the data comprises acceleration and step frequency; course estimation: calculating the walking direction of the user through a direction sensor and a gyroscope; and indoor positioning: carrying out indoor positioning on the user by utilizing a partial resampling particle filter algorithm based on geometric center. The step number and step length obtained through the method are more accurate; IMU indoor positioning information integration and optimization are realized through the design of the particle filter algorithm; and for the problems of depletion and degradation of particle filtering, the particle filter resampling algorithm based on geometric center is provided, thereby reducing computation complexity and improving positioning precision.