{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T06:54:54Z","timestamp":1778655294481,"version":"3.51.4"},"reference-count":44,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2018,8,10]],"date-time":"2018-08-10T00:00:00Z","timestamp":1533859200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program","doi-asserted-by":"publisher","award":["2018YFB0505200"],"award-info":[{"award-number":["2018YFB0505200"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IJGI"],"abstract":"<jats:p>Location-based services for smartphones are becoming more and more popular. The core of location-based services is how to estimate a user\u2019s location. An INS\/floor-plan indoor localization system, using the Firefly Particle Filter (FPF), is proposed to estimate a user\u2019s location. INS includes an attitude angle module, a step length module and a step counting module. In the step length module, we propose a hybrid step length model. The proposed step length algorithm reasonably calculates a user\u2019s step length. Because of sensor deviation, non-orthogonality and the user\u2019s jitter, the main bottleneck for INS is that the error grows over time. To reduce the cumulative error, we design cascade filters including the Kalman Filter (KF) and FPF. To a certain extent, KF reduces velocity error and heading drift. On the other hand, the firefly algorithm is used to solve the particle impoverishment problem. Considering that a user may not cross an obstacle, the proposed particle filter is proposed to improve positioning performance. Results show that the average positioning error in walking experiments is 2.14 m.<\/jats:p>","DOI":"10.3390\/ijgi7080324","type":"journal-article","created":{"date-parts":[[2018,8,10]],"date-time":"2018-08-10T10:52:01Z","timestamp":1533898321000},"page":"324","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":14,"title":["An INS\/Floor-Plan Indoor Localization System Using the Firefly Particle Filter"],"prefix":"10.3390","volume":"7","author":[{"given":"Jian","family":"Chen","sequence":"first","affiliation":[{"name":"School of Information Science and Engineering, Xiamen University, Xiamen 361001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gang","family":"Ou","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Xiamen University, Xiamen 361001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3348-4358","authenticated-orcid":false,"given":"Ao","family":"Peng","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Xiamen University, Xiamen 361001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lingxiang","family":"Zheng","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Xiamen University, Xiamen 361001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianghong","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Information Science and Engineering, Xiamen University, Xiamen 361001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,8,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Chiang, K.W., Liao, J.K., Huang, S.H., Chang, H.W., and Chu, C.H. 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