Indoor PDR Positioning Assisted by Acoustic Source Localization, and Pedestrian Movement Behavior Recognition, Using a Dual-Microphone Smartphone

Algorithm 2

Adaptive stride length estimation.

Input: The movement state of the pedestrian’s current gait.

Output: The stride length of the pedestrian’s current gait.

1: Determine the and parameters in different movement behavior states

switch smartphone pose:

case holding:

switch movement state:

case walk:

(Process 1

case downstairs:

= ; = ;

case calling:

switch movement state:

Same process 1;

case swinging:

switch movement state:

Same process 1;

case pocket:

switch movement state:

Same process 1;

end

2: Substitute and into Equation (6)