[Retracted] Magnetic Matching-Aided Indoor Localization System Based on a Waist-Mounted Self-Contained Sensor Array

Figure 3

Construction of hybrid magnetic fingerprint for sensor array based on single step. , , represent the magnetic sequences of x-axis, y-axis, and z-axis in a single step; is the length of the sequence. After calibration and projection, we obtain the magnetic sequence corresponding to the horizontal component, vertical component, and magnitude of the magnetic field in a single step; that is, , , . We concatenate them forming the magnetic fingerprint with a length of 3.