The invention discloses an indoor positioning
algorithm capable of combining inertial navigation with terrestrial
magnetism on the basis of credibility. The
algorithm comprises the following steps that: in a positioning initial stage, selecting a coordinate original point in a positioning area, establishing a coordinate
system, and dividing the area according to different paths; through inertial navigation, obtaining the position coordinate of each step, obtaining standard terrestrial
magnetism information on each coordinate point, and establishing an inertial navigation terrestrial magnetismfingerprint
library; in a positioning process, according to an initial position point, obtaining a walking coordinate, and through a path matching
algorithm, obtaining inertial navigation informationsource credibility and path similarity; according to the path similarity, carrying out clustering to obtain a local area terrestrial
magnetism fingerprint library; applying an improved
particle filtering algorithm to obtain terrestrial magnetism matching similarity, obtaining the coordinate point with the highest similarity, carrying out secondary matching with the local area terrestrial magnetismfingerprint
library to obtain terrestrial magnetism information source credibility; and carrying out
adaptive weighting algorithm combination on the terrestrial magnetism information source and the inertial navigation information source to obtain the point with the highest credibility, wherein the point with the highest credibility is an estimated position. By use of the algorithm, positioning accuracy and speed can be improved, and convenient, quick and accurate positioning service is provided for common users.