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Location-based services have become more and more important with the development of the Internet of Things (IoT) technology in recent years. Global Navigation Satellite System (GNSS) is widely used for positioning outdoors while it is still challenging to realize accurate and universal 3D indoor localization in complex indoor environments. Crowdsourcing-based positioning method is proposed aiming at autonomously constructing the navigation database based on the pedestrians’ daily-life data. This paper proposes an autonomous 3D indoor localization algorithm using the combination of crowdsourced Wi-Fi fingerprinting and Micro-Electro-Mechanical System sensors (3D-CSWS). An enhanced complementary filter is applied to provide accurate attitude information by integrating multi-sensor data with the detection of external acceleration and quasi-static magnetic field. In addition, the gradient descent (GD) algorithm is proposed to optimize the forward pedestrian dead reckoning and the optimized trajectories are weighted fused to construct the final navigation database after quality evaluation. In the on-line phase, the adaptive particle filter is used to integrate the results of Wi-Fi fingerprinting and multiple sensors to provide accurate and concrete 3D indoor localization performance. The real-world experimental results demonstrate that the proposed 3D-CSWS is proved to achieve autonomous and precise 3D indoor localization performance among complex indoor environments.
Yu et al. (2021) studied this question.