In recent years, the public’s demand for location services has increased significantly. As outdoor positioning has matured, indoor positioning has become a focus area for researchers. Various indoor positioning methods have emerged. Pedestrian dead reckoning (PDR) has become a research hotspot since it does not require a positioning infrastructure. An integral equation is used in PDR positioning; thus, errors accumulate during long-term operation. To eliminate the accumulated errors in PDR localisation, this paper proposes a PDR localisation system applied to complex scenarios with multiple buildings and large areas. The system is based on the pedestrian movement behavior recognition algorithm proposed in this paper, which recognises the behavior of pedestrians for each gait and improves the stride length estimation for PDR localisation based on the recognition results to reduce the accumulation of errors in the PDR localisation algorithm itself. At the same time, the system uses self-researched hardware to modify the audio equipment used for broadcasting within the indoor environment, to locate the acoustic source through a Hamming distance-based localisation algorithm, and to correct the estimated acoustic source estimated location based on the known source location in order to eliminate the accumulated error in PDR localisation. Through analysis and experimental verification, the recognition accuracy of pedestrian movement behavior recognition proposed in this paper reaches 95% and the acoustic source localisation accuracy of 0.32 m during movement, thus, producing an excellent effect on eliminating the cumulative error of PDR localisation.

中文翻译：

---

使用双麦克风智能手机，通过声源定位和行人运动行为识别辅助室内 PDR 定位

近年来，公众对位置服务的需求显着增加。随着室外定位的成熟，室内定位已成为研究人员关注的重点领域。各种室内定位方法应运而生。由于不需要定位基础设施，行人航位推算（PDR）已成为研究热点。PDR定位使用积分方程；因此，在长期运行期间错误会累积。为了消除 PDR 定位中累积的误差，本文提出了一种适用于多建筑物和大面积复杂场景的 PDR 定位系统。该系统基于本文提出的行人运动行为识别算法，它识别每个步态的行人行为，并根据识别结果改进 PDR 定位的步长估计，以减少 PDR 定位算法本身的错误累积。同时，系统采用自研硬件对室内环境中用于广播的音频设备进行修改，通过基于汉明距离的定位算法对声源进行定位，并根据估计的声源估计位置对估计的声源估计位置进行修正。已知源位置，以消除 PDR 定位中的累积误差。通过分析和实验验证，本文提出的行人运动行为识别的识别准确率达到95%，运动过程中声源定位准确率为0.32 m，因此，