中文摘要：

以智能手机为用户端平台，利用行人航迹推算（pedestrian dead reckoning，PDR）改进算法和气压测高原理设计了三维多传感器融合定位的扩展卡尔曼滤波器，基于Android操作系统开发了手机传感器融合的室内三维定位程序。最后，利用中国矿业大学室内外无缝定位试验场进行了定位算法性能评估。结果表明，三维融合定位方法能有效抑制漂移误差。定位精度和可靠性能够满足室内应用环境的要求，且定位精度优于WiFi方法和常规PDR方法。

英文摘要：

With smart phones as the platform, the extended Kalman filter with 3D localization based on multi-sensor fusion was designed by using the improved pedestrian dead-reckoning algorithm and barometric altimeter,and a 3D indoor localization program for multi-sensor fused smart phones was developed based on the Android operating system. In the end, the precision and reliability of this localization algorithm were tested at the seamless localization field of CUMT. Experiment results show that by effectively restraining the drift error and having a localization precision superior to both traditional PDR algorithm and WiFi method, the 3D fusion localization method can satisfy the requirements of indoor application environment in terms of localization precision and reliability.