On indoor object's trajectory trace adjustment to building's floor plan

A modern mobile device is equipped with an embedded inertial measurement unit. This unit can restore the motion trajectory (trace) of an indoor object. The object’s motion indoors is restricted by the walls. Therefore, correlations of the object’s motion trajectory (trace) within the structure of the building allow clarification of the object’s position. This paper presents an algorithm of the trace adjustment to the building floor plan. Since the trace contains some errors, small corrections to the segments of the trace are applied. During adjustment the direction and the length of different parts of the trace can be varied. A proposed mathematical model for adjustment of the trace is discussed. The approximate algorithm is based on the dynamic programming method. An example of the proposed algorithm application is described. The developed approach might be applied in local positioning systems based on wireless sensors’ networks in conditions of high load when a large number of mobile devices are periodically set to energy saving mode.