Motion Restricted Information Filter for Indoor Bluetooth Positioning

Autonomous mobile robot localization based on RSSI measurements using an RFID sensor and neural network BPANN

The ranging method based on RSSI (Received Signal Strength Indicator) is a distance estimation method with a low cost and low complexity, which is widely used in indoor ranging. The key feature lies in how to overcome an interference of random factors to the signal and make the ranging method more accurate. We have interest in fact that the influences on RSSI measurements from indoor propagation environments can be another ranging error source. In other words, to improve ranging accuracy, influenced factors on RSSI measurements should be minimized or compensated. In this paper, we propose an altofrequent weighting method. Proposed method uses weighted RSSI measurements with occurrence rate in a reference position. Simulation results show that proposed novel approach achieves more accurate performance and no extra equipment required compared with existing method.

In this article, a new indoor localization technique with extreme learning machine (ELM) is proposed where only a small number of received signal strength indicator (RSSI) measurements are labeled. In the off-line learning phase, the iterative self organizing data analysis techniques algorithm (ISODATA) is used to divide the RSSI measurements into some measurement data subsets. Then the multi-kernel ELM (MK-ELM) method is utilized to perform classification learning and obtain the RSSI measurement classification function. For each RSSI measurement subset, a two-stage feature extraction algorithm using the kernel principal component analysis, the deep learning network and ELM method is proposed for RSSI measurement feature extraction. At last, the position regression function of each subset is obtained by the semi-supervised regression learning. In the on-line position estimation phase, using the measurement classification and feature extraction of the received RSSI measurement, the position is estimated based on the corresponding position regression function. The field tests show that the proposed algorithm can obtain more accurate position estimation than other existing ELM based localization approaches do.

Increasing the location accuracy of the Indoor Positioning System (IPS) is an important research area in localization.Utilizing mobile beacons in IPS environment has made localization more accurate and cost-effective.This paper proposes an Filtered RSSI and Beacon Weight Approach (FRBW) based on improved Received Signal Strength Indicator (RSSI) values using a Kalman filter.This algorithm takes both the distance and improved RSSI measurements between beacon nodes into consideration.Kalman filter applied on the RSSI measurements that eliminate noise of the signal and then applied on FRBW positioning algorithm.The proposed algorithm was applied using eight beacons.The results show that this FRBW approach has better positioning accuracy and minimum location error, and can be applied in IoT applications in smart city.

‘Wireless sensor networks’ (WSNs) follow layered architecture for the fruitful and reliable working of distributed WSNs. The region of WSN is attaining importance in the research field on account of its wide-ranging scope of applications in different domains. The CLD (cross-layer design) is a rising trend in the network layer architectures. And it normally involves significant connections between disparate layers. This paper manages CLD instead of single layer in order to attain good performance. Collision amid packet transmission is the chief issues that directly influence the performance and lifetime of distributed WSNs. This present model specifically provided a secure solution to avoid collision utilizing cross-layer in WSNs. For the foremost time, the transport layer was chosen as a primary platform for the calculation of RSSI (‘received signal strength indicator’) values to enrich cross-layer interaction. Effectively, this sort of selection in the order of nodes bypasses the collision in packet transmission and hence extends the network lifetime by avoiding transmission failure.

The indoor object tracking by utilizing received signal strength indicator (RSSI) measurements with the help of wireless sensor network (WSN) is an interesting and important topic in the domain of location-based applications. Without the knowledge of location, the measurements obtained with WSN are of no use. The trilateration is a widely used technique to get location updates of target based on RSSI measurements from WSN. However, it suffers with high location estimation errors arising due to random variations in RSSI measurements. This paper presents a range-free radial basis function neural network (RBFN) and Kalman filtering- (KF-) based algorithm named RBFN+KF. The performance of the RBFN+KF algorithm is evaluated using simulated RSSIs and is compared against trilateration, multilayer perceptron (MLP), and RBFN-based estimations. The simulation results reveal that the proposed RBFN+KF algorithm shows very low location estimation errors compared to the rest of the three approaches. Additionally, it is also seen that RBFN-based approach is more energy efficient than trilateration and MLP-based localization approaches.

In this paper, we investigate the fundamental loss of ranging resolution using received signal strength indicator (RSSI) observations relative to unprocessed received signal (URS) measurements. Unlike previous work, this is done for a single propagation model that accounts for large-scale (log-normal) fading and small-scale (multipath) fading effects. Further, this contribution fully accounts for the temporal correlation of the log-normal attenuation and the multipath channel, which previous work has ignored. Cramer Rao bounds on the estimates of range give us a complete description of the effects of data reduction (through RSSI observations), multipath, and random attenuation on the estimates of range.

In this article, we investigate how the proposed navigation mode "dead reckoning + relative ranging + heading constraint" can be used to cooperatively localize a UAV swarm when GNSS (Global Navigation Satellite System) is denied. By focusing on the relative ranging performance, the wireless RF modules mounted on the cost-efficient UAVs are used to provide communication, ranging and positioning at the same time; however, its positioning accuracy is usually degraded by the noise in the actual RSSI (Received Signal Strength Indicator) measurements. To solve this problem, we analyze the influence of antenna pattern inhomogeneity and channel variation, respectively. The former mainly determines an antenna radiation function related to the yaw angle and relative position between the two measuring UAVs. The latter uses overlapping Allan variance to analyze and identify the measurement noises from outfield tests, that is, quantization noise, flicker noise, random walk noise and Gaussian white noise, which to some extent bridges the difference between the theoretical model and the practical measurement of RSSI. We also evaluate the sub-swarm size that guarantees robustness of RSS-based localization. In this way, an improved extended Kalman filter is proposed to predict and correct the colored noise by adaptively integrating the current peer-to-peer radio ranging performance and its Allan variance. To prove the effectiveness of this approach, simulation results based on real environment datasets and practical noise modeling are demonstrated.

Localization is one of the most challenging and important issues in wireless sensor networks (WSNs), especially if cost-effective approaches are demanded. In this paper, we present intensively discuss and analyze approaches relying on the received signal strength indicator (RSSI). The advantage of employing the RSSI values is that no extra hardware (e.g. ultrasonic or infra-red) is needed for network-centric localization. We studied different factors that affect the measured RSSI values. Finally, we evaluate two methods to estimate the distance; the first approach is based on statistical methods. For the second one, we use an artificial neural network to estimate the distance.

A set of Wi-Fi RSSI (Received Signal Strength Indicator) measurements is one of basic sensory observation available for indoor localization. One major drawback of the RSSI based localization is maintenance of the RSSI fingerprint database, which should be periodically updated against measurement pattern changes caused by relocation, removal and malfunction of Wi-Fi APs (access points). To address this problem, a new change detection method is proposed in this paper. First, by machine learning techniques, the RSSI database is reconstructed to a probabilistic feature database by the implementations of PCA (Principal Component Analysis) and GP (Gaussian Process). Then, KL (Kullback-Leibler) divergence is used as a metric to measure the similarity of the existing database and a newly arrived test sets. The proposed method is evaluated by a real experiment at a multi-storey building. For experimental study, different cases that provoke changes of RSSI patterns are considered, and the positioning accuracy is examined by the k-NN (Nearest Neighbor) method. From the experimental results, it is found that the bigger the RSSI pattern changes, the large the KL divergences become. Also, when a modified change detection algorithm as the benchmark, which does not implement the PCA feature extraction, is compared, the proposed algorithm yields accurate and fast computing performances. In addition, the required number of survey points is empirically found associated with the threshold value to trigger the detection alarm.

Nowadays, location-based services are common in our daily lives. Traditional Global Positioning System (GPS) location can provide real-time location function in outdoor complex environments, but it is insufficient for indoor location. There are many indoor location technologies, such as ultrasound, Zigbee, RFID and WIFI. RFID location technology has attracted the attention of researchers due to its high precision and low cost. Most existing RFID location algorithms are based on RSSI (Received Signal Strength Indicator) measurement. When converting RSSI to distance, the inaccurate estimation of the path loss parameter may lead to large error. In order to reduce the deviation, this paper proposes a new RFID location algorithm. Specifically, the RSSI of the target tag is read in different directions of the antenna, and the position information is predicted by the general regression neural network, which is optimized by the optimization algorithm. The experimental results show the efficiency of our proposed algorithm.

Localization for visually impaired people in dynamically changing environments with unexpected hazards and obstacles is a current need. Many techniques have been discussed in the literature with respect to location-based services and techniques used for the positioning of devices. Time difference of arrival (TDOA), time of arrival (TOA) and received signal strength (RSS) have been widely used for the positioning but narrow band signals such as Bluetooth cannot efficiently utilize TDOA or TOA. Received signal strength indicator (RSSI) to measure RSS, has been found to be more reliable. RSSI measurement estimations depend heavily on the environmental interference. RSSI measurement estimations of Bluetooth systems can be improved either by improving the existing methodologies used to implement them or by using fusion techniques that employ Kalman filters to combine more than one RSSI method to improve the results significantly. This paper focuses on improving the existing methodology of measuring RSSI by proposing a new method using trilateration for localization of Bluetooth devices for visually impaired people. To validate the new method, class 2 Bluetooth devices (Blue Giga WT-12) were used with an evaluation board. The software required was developed in National Instruments LabView. The PCB was designed and manufactured as well. Experiments were then conducted, and surface plots of Bluetooth modules were obtained to show the signal interference and other environmental effects. Lastly, the results were discussed, and relevant conclusions were drawn.

Received Signal Strength Indicator (RSSI) is used in indoor positioning for measuring object distance to the base station. However, acquiring accurate RSSI values is challenging because wireless interference factors, such as multipath decline interference, make RSSI values of the same object fluctuate over time. Therefore, instead of a single RSSI, RSSI acquisition will collect a set of RSSI values from which the most moderate RSSI is derived. For this purpose, we propose an Enhanced Gaussian Mixture Model (EGMM) to derive a more precise RSSI for improving indoor positioning accuracy. EGMM enhances Gaussian Mixture Model (GMM) by applying Akaike information criterion (AIC) to determine the best K value for GMM to divide RSSI values into K sets representing signals from different paths. Then, EGMM identifies the most appropriate set of RSSI values to derive a more precise RSSI and thus improves the accuracy of indoor positioning. Our EGMM solution performs well in an open indoor space. The experiment is conducted with iBeacon devices, and the average error distance of EGMM is about 64% of those generated by existing Gaussian filtering. The average positioning error of EGMM is about 0.48 meter, which is adequate to indoor positioning accuracy.

LoRaWAN technology’s reliability is challenged by weather parameters, which can influence the communication channel design, especially when dealing with outdoor devices. We propose to analyze this effect by evaluating the relationship between the received signal strength indicator (RSSI) and different weather parameters, as well as its temporal changes. A rigorous statistical analysis of the RSSI sequences is conducted to assess if they could be represented by a specific statistical model. For this purpose, several models are investigated. The Artificial Intelligence (AI) algorithms cover machine learning (ML) and deep learning methods are appealing when dealing with time series forecasting. Nevertheless, the classical autoregressive integrated moving average (ARIMA) model can be an attractive alternative due to its simplicity. Therefore, this work proposes a comparative study of ARIMA, AI, and hybrid approaches to forecast the RSSI using weather parameters as regressors. The considered AI algorithms are the artificial neural network (ANN), support vector machine (SVM), random forest (RF), and Long Short-Term Memory (LSTM). Also, hybrid models are constructed, coupling the ARIMA with them. The models are evaluated in time series of RSSI, measured by eight different LoRaWAN transmitter nodes and considering the temperature, pressure, relative humidity, and rain as weather parameters. Our analysis reveals that temperature is the dominant factor among weather parameters, and negatively affects RSSI. The ARIMA model that uses only the temperature as a regressor provides consistently better fits than the ARIMA without regressors. Moreover, coupling the ARIMA with the temperature as a regressor and the ANN (ARIMA-ANN) is the best option among the pure AI and hybrid approaches. However, it provided accuracy measures very close to those obtained from the ARIMA model fitted in the first stage, with similar performance. Therefore, the ARIMA model considering the temperature is the most competitive alternative when analyzing RSSI measurements, with the advantage of being the most straightforward method. These results suggest that the RSSI from the analyzed LoRaWAN receiver nodes may not present nonlinear patterns and, considering several weather parameters, they are affected mainly by the outdoor temperature.

Source positioning using hybrid angle-of-arrival (AOA) estimation and received signal strength indicator (RSSI) is attractive because no synchronization is required among unknown nodes and anchors. Conventionally, hybrid AOA/RSSI localization combines the same number of these measurements to estimate the agents’ locations. However, since AOA estimation requires anchors to be equipped with large antenna arrays and complicated signal processing, this conventional combination makes the wireless sensor network (WSN) complicated. This paper proposes an unbalanced integration of the two measurements, called 1AOA/nRSSI, to simplify the WSN. Instead of using many anchors with large antenna arrays, the proposed method only requires one master anchor to provide one AOA estimation, while other anchors are simple single-antenna transceivers. By simply transforming the 1AOA/1RSSI information into two corresponding virtual anchors, the problem of integrating one AOA and N RSSI measurements is solved using the least square and subspace methods. The solutions are then evaluated to characterize the impact of angular and distance measurement errors. Simulation results show that the proposed network achieves the same level of precision as in a fully hybrid nAOA/nRSSI network with a slightly higher number of simple anchors.