ULTRASONIC WAVE-BASED INDOOR INERTIAL NAVIGATION MAPPING METHOD AND SYSTEM

An ultrasonic wave-based indoor inertial navigation mapping method and system are disclosed. The method includes: acquiring inertial navigation data, ultrasonic data, and altitude data of a person for each step; determining a landing point position of a corresponding footstep according to the inertial navigation data and the altitude data, and connecting all landing point positions to obtain a reference trajectory; determining various initial ultrasonic map points according to the reference trajectory and the ultrasonic data for each step, where feature data of each initial ultrasonic map point is recorded and stored; acquiring current initial ultrasonic map points and current feature data corresponding to a current footstep; and comparing the current feature data with all recorded and stored feature data, and fusing the current initial ultrasonic map points with various initial ultrasonic map points with similar features by a particle filter algorithm if a preset condition is satisfied.