Adaptive Path-loss Model-based Indoor Localization

A weighted hybrid indoor positioning method based on path loss exponent estimation

With the proliferation of the Internet of Things (IoT), employing Received Signal Strength (RSS) as a metric to determine the location of a target (e.g., person or mobile device) is of great interest in terms of cost and ease of implementation. Indeed, RSS measurements can be easily obtained for most off-the-shelf devices, such as WiFi- or ZigBee compatible devices or sensors. This paper deals with the indoor localization problem in wireless sensor networks (WSNs) and proposes a new approach for radio signal propagation modelling and localization estimation, that accounts for the imperfection of RSS measurements and the reliability of RSS sources by using the Dempster-Shafer Theory (DST). In the signal propagation modelling, key information regarding the geometry of indoor environment that is divided into zones separated by walls (zoning), are considered. Based on the number of walls, the RSS irregularities are estimated using different distance intervals, which are weighted by a probability density determined experimentally. To estimate the location of a target node, the PCR6 rule is used to combine the belief masses of the positions obtained from the probability density. In order to evaluate the performance of the proposed approach, an experimental WSN has been deployed in a living apartment. The obtained results demonstrate that the proposed approach improves the localization accuracy compared to the case without zoning. Moreover, the obtained localization mean error proves the feasibility of a precise localization of humans in indoor environments in the case of Ambient Assisted Living and Social Robotics applications.

Indoor localization based on Received Signal Strengths (RSS) or on some form of power measurements is a low-cost and low-complexity solution gaining more and more interest in the research and commercial worlds. Typically, Wireless Local Area Network (WLAN) signals are employed for such purpose, due to the fact that they are widely spread in indoor environments. Nevertheless, any wireless signal available in indoor scenarios can be used for positioning based on similar power measurement approaches. One example is the radio frequency identification (RFID), which enable portable localization systems in the form of wearable REID tags. Such RFID-enabled systems are highly demanded for health-state monitoring, object tracking, and security. These applications are mostly indoor applications, and thus, we can envision a near future where multiple RFID and WLAN signals will co-exist on multiple frequency bands. The existing signal diversity can offer a benefit in indoor positioning, providing that the signal propagation effects for both WLAN and RFID are well understood and taken into account. However, measurement-based studies on indoor channel modeling, including path loss and shadowing effects of RFID signals are still missing. A comparison between RFII) and WLAN channel models for positioning purpose has yet to be made. It is the purpose of our paper to address the path-loss channel models and shadowing effects for WLAN and RFID signals based on extensive measurement campaigns in an office environment.

In this paper, we propose a surface correlation based fingerprinting method in sparse Wi-Fi environment. The proposed method can estimate location even with very few Wi-Fi APs by using accumulated spatial RSS pattern. We verify performance of the proposed method through several tests in a building with complex paths. Many studies have developed localization technologies that use measurements such as RSS (Received Signal Strength) or RTT (Round Trip Time) for Wi-Fi signal. All RF have signal noise and distortion problems as well as multipath problem in indoor environments. As the distance from the RF signal source increases, the discrimination of the RSS decreases due to RF signal noise and distortion. Therefore, ambiguity of RSS increases as the distance increases, the performance deteriorates. The conventional RF based localization method have tried to maintain dense RF environment to guarantee stable and accurate performance. However, in order to maintain the dense RF environment, it is becoming a barrier to commercialization of localization technology due to high cost of constructing RF infrastructure and maintenance difficulty. In this paper, we propose a Surface Correlation (SC) based fingerprinting technique to maintain high positioning performance even with few Wi-Fi APs. The surface is the accumulated RSS pattern data during the movement of a pedestrian, which means the spatial RSS pattern. Conventional fingerprinting methods using kNN (k-Nearest Neighbors) and WkNN (Weighted kNN) are very vulnerable to signal noise and distortion because they utilize instantaneous RSS data. The performance of Particle Filter (PF) based localization technology is also degraded in areas where Wi-Fi AP is sparsely distributed. However, the proposed method is very robust against signal noise and distortion because it compares the spatial RSS pattern with the reference RSS pattern on the fingerprinting database. This increases localization accuracy and availability for Wi-Fi coverage. For localization, the proposed method conduct correlation process for the spatial RSS pattern of a pedestrian with reference RSS pattern of database. So, the reference RSS pattern should be extracted from a reference trajectory that matches a pedestrian`s walking path. The proposed method utilize a database of ‘link-node’ structure to dynamically generate a reference trajectory in indoor environment with complicated path. It generate candidate reference trajectories using only MAC address and turn event of Pedestrian Dead-Reckoning (PDR). The proposed method fix a reference trajectory between these candidate trajectories through correlation process of measured RSS pattern with each reference RSS pattern. A reference point on the fixed reference having most similar RSS pattern to a pedestrian`s is considered as a current location. In order to improve performance at a fork where RSS ambiguity increases, the proposed method estimates preferentially for a reference trajectory matching with PDR turn event. The turn event can be wrong due to various motion of a pedestrian. The proposed method selects a correct reference trajectory by continuously performing correlation process on candidate reference trajectories. In order to verify the performance of the proposed surface correlation based fingerprinting method, we conducted several tests in a three-story building. Before the tests, we conducted a survey of Wi-Fi environment to construct fingerprinting database in the building. As a result of the survey, 170 APs are distributed in the building. We reduced the number of APs by 20% from 170 to 17, and analyzed performance of the proposed and conventional localization methods. The test results show that the performance of the conventional localization methods degrade as the number of applied APs decreases. The proposed fingerprinting method shows a 3 meter localization error even with very few Wi-Fi APs, and unlike the conventional fingerprinting method, the localization error is bounded to be within 5m due to the use of spatial RSS pattern. In this paper, we presented the fingerprinting method using the surface correlation in sparse Wi-Fi environment. The proposed fingerprinting method accumulates Wi-Fi RSS during movement of a pedestrian. The proposed method compares the spatial RSS pattern, which is accumulated RSS data, with reference RSS patterns of fingerprinting database. By comparing the RSS patterns, the proposed method greatly improves accuracy as well as stability. In addition, it can be effectively applied in a sparse Wi-Fi environment by improving the availability of ambiguous areas of Wi-Fi coverage. Through these results, we expect to be able to provide accurate and reliable location information even in indoor weak RF environment.

There are no large-scale deployments to navigate the people indoor environments as the GPS for outdoor environments. For this reason, the development of high-performance systems of indoor localization has been considered the potential research areas by both academia and industry in last decade. These indoor localization research studies are divided into two groups in the literature which are readerbased and tag-based systems. Most of these studies are reader-based. These readers and tags can determine the received signal strength levels of the signal using the radio frequency technology. We present a tagbased and cost-effective indoor localization system using NRF24L series radio modules. Different from the available tag-based systems, we propose a smart transmit power scheme run in the tags called SmartTag. The SmartTag provides communication with the nearest reader using different power levels. However, the existing tag-based methods require the received signal strength indicator (RSSI) information to achieve high localization accuracy. Our proposed system eliminates RSSI information with the SmartTag. We have developed a simulation of the prototype system, and we used Monte Carlo simulations in many different scenarios. We have also implemented the system prototype and conducted in an actual indoor environment to demonstrate the performance of the SmartTag by comparing with the Monte Carlo simulations. From the indoor experimental results, we confirm that the detections of room and objects are accurate and positioning accuracy is improved thanks to the SmartTag localization. If we briefly summarize our work, we have determined the position in indoor environments by communicating with the nearest reader in the medium thanks to the scheme on the SmartTag.

How to filter fluctuant RSSI signal has always been a difficult problem in an indoor localization system. This paper provides an efficient indoor localization algorithm in a BLE5.0 based scan-broadcast network by building RSSI path-loss model without a great deal of fingerprints. This method builds a RSSI-Distance fading model between one position node (PN) and one markup node (MN) by maximum likelihood estimation (MLE) based on Gauss distribution of RSSI data. Then the rough fading model about RSSI in data collecting intervals of 1 m will be get. In this paper we reduce the distance intervals in 0.1 m by fitting of path loss model and making discrete samples of confidence intervals to improve the accuracy of localization. Finally, the whole fading regularly will be fixed and the location errors of PN will be determined by centroid model (CM). The results show that sampling interval with high precision can benefit the accuracy performance in an indoor localization environment.

Wireless signal propagation in indoor environments is generally affected by various factors such as multi-path fading, temperature and humidity. It is thus challenging to use the simple metric of Received Signal Strength (RSS) for indoor localization. Prior work often requires manual profiling of each indoor environment to achieve good accuracy. We, instead, propose a simple generic localization algorithm that can be applied in any indoor environment without profiling. Our algorithm makes use of a simple signal propagation model and accepts a broad characterization of the environmental effect. The algorithm's simplification results in some accuracy loss compared to profiling-based algorithms. We, however, believe that our algorithm's zero-profiling requirement would make it favorable in many scenarios, especially when extensive profiling is not affordable or it is favored to trade a little accuracy for saved human effort. Evaluations also show that deployment of additional landmarks can be combined with our algorithm to compensate the accuracy loss, thus achieving good accuracy without profiling.

Wi-Fi-based indoor positioning systems are becoming increasingly prevalent in digital transitions; therefore, ensuring accurate and robust positioning is essential to supporting the growth in demand for smartphones’ location-based services. The indoor positioning system on a smartphone, which is generally based on Wi-Fi received signal strength (RSS) measurements or the fingerprinting comparison technique, uses the K-NN algorithm to estimate the position due to its high accuracy. The fingerprinting algorithm is popular due to its ease of implementation and its ability to produce the desired accuracy. However, in a practical environment, the Wi-Fi signal strength-based positioning system is highly influenced by external factors such as changes in the environment, human interventions, obstacles in the signal path, signal inconsistency, signal loss due to the barriers, the non-line of sight (NLOS) during signal propagation, and the high level of fluctuations in the RSS, which affects location accuracy. In this paper, we propose a method that combines pedestrian dead reckoning (PDR) and Wi-Fi fingerprinting to select a k-node to participate in the K-NN algorithm for fingerprinting-based IPSs. The selected K-node is used for the K-NN algorithm to improve the robustness and overall accuracy. The proposed hybrid method can overcome practical environmental issues and reduces the KNN algorithm’s complexity by selecting the nearest neighbors’ search space for comparison using the PDR position estimate as the reference position. Our approach provides a sustainable solution for indoor positioning systems, reducing energy consumption and improving the overall environmental impact. The proposed method has potential applications in various domains, such as smart buildings, healthcare, and retail. The proposed method outperforms the traditional KNN algorithm in our experimental condition since its average position error is less than 1.2 m, and provides better accuracy.

Hybrid Range Based Indoor Wireless Localization using Unconstrained Nonlinear Optimization for UWB Applications

Indoor localization systems have already wide applications for providing localized information and directions. They can also be very useful in medical applications, as an individual’s indoor movements can be indicative of his/her clinical status. Research for indoor localization systems is ongoing and there are numerous solutions with different hardware or algorithmic approaches, for different use cases. Ease of setup and cost are significant factors when using indoor localization systems for medical applications. This paper proposes an indoor localization system with room-level accuracy, focusing on an easy installation procedure that can be easily followed from non-technical staff, as well as on low cost, so that it can be widely adopted. The proposed system has been mainly designed for behavioural monitoring of adults in an indoor environment. The system operates by tracking a carried device based on the processing of RSS (Received Signal Strength) measurements from Bluetooth Low Energy beacons placed in the area. The proposed system has been evaluated in realistic settings and and achieves an accuracy of 95.31% in room estimation.

Position estimation plays a pivotal role in indoor sensing and localization systems. However, conventional received signal strength (RSS)-based positioning methods exhibit significant limitations in both multipath interference suppression and environmental adaptability. A programmable metasurface antenna-assisted indoor 2-D positioning method integrating dynamic angle perception and a path loss model modification is proposed. This method establishes a polar coordinate system centered on the metasurface antenna, enabling simultaneous determination of the angular position and radial distance of the human in the horizontal plane. The angular detection range is from +30° to –30° with a resolution of 15°, while the radial detection range is from 0.4 m to 1.2 m. Our scheme adopts rapid metasurface beam scanning and environmental difference calculation to achieve robust angle estimation. Simultaneously, distance measurement accuracy is substantially improved by incorporating distance-dependent polynomial correction terms into the path loss model. The cumulative density function shows 80% distance estimation error for indoor environment is lower than 0.13 m in experimental validation. Compared with the traditional RSS positioning method, the proposed method has significant advantages in multipath interference suppression, environmental adaptability, response speed, algorithm complexity and deployment convenience. It has important application value in medical monitoring and robot positioning.

For an indoor localization system based on visible light communication (VLC) by using received signal strength technique, visible light signals used for estimating the distances between each localization target and reference nodes suffer from non-line-of-sight (NLoS) signal propagation, which could introduce large errors in estimating their locations. Both line-of-sight (LoS) link and NLoS link are taken into account in a noisy VLC channel, and thus the NLoS signal and ambient noise are the sources of localization error. Ricean K factor is introduced to evaluate the relation between the value of NLoS signal and the quality of localization in the proposed system. Analytical expressions for the distance measurement error and the upper bound of localization error are derived by using the least squares method. The simulation results show that the estimation of localization error matches the distribution of Ricean K factor in the noisy overall link. The environmental parameters that can be used to decrease the value of Ricean K factor are also discussed in the simulations, which provide the reference of parameters for building an experimental demonstration of a VLC indoor localization system. A comparison is conducted with the previous works to demonstrate the good performance of our scheme.

In daily life, mobile and wearable devices with high computing power, together with anchors deployed in indoor en-vironments, form a common solution for the increasing demands for indoor location-based services. Within the technologies and methods currently in use for indoor localization, the approaches that rely on Bluetooth Low Energy (BLE) anchors, Received Signal Strength (RSS), and lateration are among the most popular, mainly because of their cheap and easy deployment and accessible infrastructure by a variety of devices. Never-theless, such BLE- and RSS-based indoor positioning systems are prone to inaccuracies, mostly due to signal fluctuations, poor quantity of anchors deployed in the environment, and/or inappropriate anchor distributions, as well as mobile device hardware variability. In this paper, we address these issues by using a collaborative indoor positioning approach, which exploits neighboring devices as additional anchors in an extended positioning network. The collaborating devices' information (i.e., estimated positions and BLE- RSS) is processed using a multilayer perceptron (MLP) neural network by taking into account the device specificity in order to estimate the relative distances. After this, the lateration is applied to collaboratively estimate the device position. Finally, the stand-alone and collaborative position estimates are combined, providing the final position estimate for each device. The experimental results demonstrate that the proposed collaborative approach outperforms the stand-alone lateration method in terms of positioning accuracy.

In this paper, a Smart Device (SD) localization method, based on the Path Loss (PL) model of Macro Base Station (MBS) and femtocells, using the convex optimization method is discussed for an Internet of Things (IoT) networks. Localization plays a major role for smart city, smart agriculture, and smart health applications in IoT networks. Global Positioning System (GPS) works well for outdoor positioning but fails to provide accurate locations in an indoor environment and non-line-of-sight (NLOS) paths. We propose the Convex optimization (CO) method that uses the combined effects of the Received Signal Strength (RSS) from macrocells and femtocells. The method requires no additional infrastructure and localizes a Smart Device (SD) in an IoT environment. The Cramèr-Rao Lower Bound (CRLB) is also evaluated to analyze the performance of the estimator. Extensive simulations demonstrate that our proposed method provides an accurate location as compared to Least Square method.

In a ZigBee network, low-cost, low-power sensor nodes are deployed to carry out specific tasks like environment sensing, home automation, human and animal condition monitoring, and robot navigation monitoring etc. Normally the network comprises of numerous sensor nodes deployed in different locations and a coordinator node where the sensor nodes report back the sensed data for possible analysis and further action. For certain applications it is desirable to be able to locate the sensor node within the network. Currently localisation can be achieved using time dependent methods (TOA and TDOA) or received signal strength (RSS). Time dependent approaches require time synchronisation at all times which can be difficult to achieve. RSS based method is simple and cost effective but require at least three anchor nodes for a nodes location to be calculated via triangulation. Such a method can increase the complexity and cost of a network deployment. This paper presents a single anchor based location system which utilizes a differential two-element antenna array to perform node localization. An experimental system is introduced and results demonstrate the effectiveness of the proposed system. The anchor node, which can also be the network gateway, is connected to two dipole antennas separated by ⋋/2. The relative phase of each antenna can be varied using a phase shifter. The combined output of the two antennas can be used to create sum and difference radiation patterns, and to steer the antenna radiation pattern. Experimental validation was performed using seven XBee sensor nodes. Accurate azimuthal localization (relative to the anchor node) can be achieved and range estimation can be made with minimal errors. Adaptive path-loss model estimation can further improve range estimation. Overall, this cost effective localisation system performs well for ZigBee based wireless sensor networks.