Real-Time and Accurate Indoor Localization with Fusion Model of Wi-Fi Fingerprint and Motion Particle Filter

Table 1

Motion sensors in smart phone.

ID	Sensor	# descriptions	# units of measure
1	Accelerometer	Acceleration force along the , and z axes	m/s^2
2	Magnetic field	Measures the ambient geomagnetic field for all the three physical axes (, and z)	T
3	Orientation	Measures degree of rotation that a device makes around all three physical axes (, and z).	°
4	Gyroscope	Rate of rotation around the , and z axes.	rad/s
5	Gravity	Force of gravity along the , and z axes.	m/s^2
6	Linear acceleration	Acceleration force along the , and z axes.	m/s^2
7	Rotation vector	Rotation vector component along the , and z axes.	Unitless