INDOOR POSITIONING SYSTEM AND METHOD BASED ON GEOMAGNETIC SIGNALS IN COMBINATION WITH COMPUTER VISION

This disclosure provides an indoor positioning system and method based on geomagnetic signals in combination with computer vision, including: a computer vision positioning module for acquiring a spatial image of a surrounding environment to create computer vision coordinates; a geomagnetic signal positioning module for detecting trajectories of the geomagnetic signals for creating geomagnetic signal coordinates; a map generating module including a database for storing the created computer vision coordinates and the created geomagnetic signal coordinates, and an inertial measurement unit for detecting a current position and a traveling trajectory, to generate a computer vision map and a geomagnetic data map; and a weighting module for calculating a computer vision weight and a geomagnetic signal weight based on the created computer vision coordinates and the created geomagnetic signal coordinates, and inputting the computer vision weight and the geomagnetic signal weight in a weight equation to estimate a present location.