Collaborative Indoor Positioning Systems: A Systematic Review

Multi-Band Analog Radio-over-Fiber Mobile Fronthaul System for Indoor Positioning, Beamforming, and Wireless Access

In response to the urgent demands of the Internet of Things for precise indoor target positioning and information interaction, this paper proposes a multi-band analog radio-over-fiber mobile fronthaul system. The objective is to obtain the target's location in indoor environments while integrating remote beamforming capabilities to achieve wireless access to the targets. Vector signals centered at 3, 4, 5, and 6 GHz for indoor positioning and centered at 30 GHz for wireless access are generated centrally in the distributed unit (DU) and fiber-distributed to the active antenna unit (AAU) in the multi-band analog radio-over-fiber mobile fronthaul system. Target positioning is achieved by radiating electromagnetic waves indoors through four omnidirectional antennas in conjunction with a pre-trained neural network, while high-speed wireless communication is realized through a phased array antenna (PAA) comprising four antenna elements. Remote beamforming for the PAA is implemented through the integration of an optical true time delay pool in the multi-band analog radio-over-fiber mobile fronthaul system. This integration decouples the weight control of beamforming from the AAU, enabling centralized control of beam direction at the DU and thereby reducing the complexity and cost of the AAU. Simulation results show that the average accuracy of localization classification can reach 86.92%, and six discrete beam directions are achieved via the optical true time delay pool. In the optical transmission layer, when the received optical power is 10 dBm, the error vector magnitudes (EVMs) of vector signals in all frequency bands remain below 3%. In the wireless transmission layer, two beam directions were selected for verification. Once the beam is aligned with the target device at maximum gain and the received signal is properly processed, the EVM of millimeter-wave vector signals remains below 11%.

A BLE based turnkey indoor positioning system for mobility assessment in aging-in-place settings

Indoor positioning systems (IPS) can be used to measure mobility at home, which is an important indicator for health and wellbeing. In this work, we designed and developed a Bluetooth Low Energy (BLE) based IPS that identifies individual users; does not require floorplans; and allows the end-users to perform on-site install/setup. Additionally, a dynamic calibration process is implemented to learn room boundaries based on the distribution of the BLE signal strength. The functionality and performance of IPS system were validated in two residential home settings. Raw and filtered relative signal strength indicators (RSSI) and variability of RSSI were measured during testing. Room detection was determined by comparing a user input location (ground truth) with the IPS detected location for over 300 positions. The IPS produced a 96% accuracy of correctly detecting room location when using RSSI and the additional motion sensors. The use of PIR motion and ultrasonic sensors information provided improved validity when compared with existing indoor positioning systems. The ease of use and modular design of this IPS makes it a good choice for implementation in larger scale smart healthcare monitoring systems.

Indoor Localization Methods for Smartphones with Multi-Source Sensors Fusion: Tasks, Challenges, Strategies, and Perspectives

Positioning information greatly enhances the convenience of people's lives and the efficiency of societal operations. However, due to the impact of complex indoor environments, GNSS signals suffer from multipath effects, blockages, and attenuation, making it difficult to provide reliable positioning services indoors. Smartphone indoor positioning and navigation is a crucial technology for enabling indoor location services. Nevertheless, relying solely on a single positioning technique can hardly achieve accurate indoor localization. We reviewed several main methods for indoor positioning using smartphone sensors, including Wi-Fi, Bluetooth, cameras, microphones, inertial sensors, and others. Among these, wireless medium-based positioning methods are prone to interference from signals and obstacles in the indoor environment, while inertial sensors are limited by error accumulation. The fusion of multi-source sensors in complex indoor scenarios benefits from the complementary advantages of various sensors and has become a research hotspot in the field of pervasive indoor localization applications for smartphones. In this paper, we extensively review the current mainstream sensors and indoor positioning methods for smartphone multi-source sensor fusion. We summarize the recent research progress in this domain along with the characteristics of the relevant techniques and applicable scenarios. Finally, we collate and organize the key issues and technological outlooks of this field.

Data Fusion of Dual Foot-Mounted INS Based on Human Step Length Model

Pedestrian navigation methods based on inertial sensors are commonly used to solve navigation and positioning problems when satellite signals are unavailable. To address the issue of heading angle errors accumulating over time in pedestrian navigation systems that rely solely on the Zero Velocity Update (ZUPT) algorithm, it is feasible to use the pedestrian's motion constraints to constrain the errors. Firstly, a human step length model is built using human kinematic data collected by the motion capture system. Secondly, we propose the bipedal constraint algorithm based on the established human step length model. Real field experiments demonstrate that, by introducing the bipedal constraint algorithm, the mean biped radial errors of the experiments are reduced by 68.16% and 50.61%, respectively. The experimental results show that the proposed algorithm effectively reduces the radial error of the navigation results and improves the accuracy of the navigation.

A Fusion Positioning Method for Indoor Geomagnetic/Light Intensity/Pedestrian Dead Reckoning Based on Dual-Layer Tent-Atom Search Optimization-Back Propagation

Indoor positioning using smartphones has garnered significant research attention. Geomagnetic and sensor data offer convenient methods for achieving this goal. However, conventional geomagnetic indoor positioning encounters several limitations, including low spatial resolution, poor accuracy, and stability issues. To address these challenges, we propose a fusion positioning approach. This approach integrates geomagnetic data, light intensity measurements, and inertial navigation data, utilizing a hierarchical optimization strategy. We employ a Tent-ASO-BP model that enhances the traditional Back Propagation (BP) algorithm through the integration of chaos mapping and Atom Search Optimization (ASO). In the offline phase, we construct a dual-resolution fingerprint database using Radial Basis Function (RBF) interpolation. This database amalgamates geomagnetic and light intensity data. The fused positioning results are obtained via the first layer of the Tent-ASO-BP model. We add a second Tent-ASO-BP layer and use an improved Pedestrian Dead Reckoning (PDR) method to derive the walking trajectory from smartphone sensors. In PDR, we apply the Biased Kalman Filter-Wavelet Transform (BKF-WT) for optimal heading estimation and set a time threshold to mitigate the effects of false peaks and valleys. The second-layer model combines geomagnetic and light intensity fusion coordinates with PDR coordinates. The experimental results demonstrate that our proposed positioning method not only effectively reduces positioning errors but also improves robustness across different application scenarios.

AwarNS: A framework for developing context-aware reactive mobile applications for health and mental health

In recent years, interest and investment in health and mental health smartphone apps have grown significantly. However, this growth has not been followed by an increase in quality and the incorporation of more advanced features in such applications. This can be explained by an expanding fragmentation of existing mobile platforms along with more restrictive privacy and battery consumption policies, with a consequent higher complexity of developing such smartphone applications. To help overcome these barriers, there is a need for robust, well-designed software development frameworks which are designed to be reliable, power-efficient and ethical with respect to data collection practices, and which support the sense-analyse-act paradigm typically employed in reactive mHealth applications. In this article, we present the AwarNS Framework, a context-aware modular software development framework for Android smartphones, which facilitates transparent, reliable, passive and active data sampling running in the background (sense), on-device and server-side data analysis (analyse), and context-aware just-in-time offline and online intervention capabilities (act). It is based on the principles of versatility, reliability, privacy, reusability, and testability. It offers built-in modules for capturing smartphone and associated wearable sensor data (e.g. IMU sensors, geolocation, Wi-Fi and Bluetooth scans, physical activity, battery level, heart rate), analysis modules for data transformation, selection and filtering, performing geofencing analysis and machine learning regression and classification, and act modules for persistence and various notification deliveries. We describe the framework's design principles and architecture design, explain its capabilities and implementation, and demonstrate its use at the hand of real-life case studies implementing various mobile interventions for different mental disorders used in clinical practice.

Development and Evaluation of BLE-Based Room-Level Localization to Improve Hand Hygiene Performance Estimation

Hand hygiene is one of the most effective ways to prevent infection transmission. However, current electronic monitoring systems are not able to identify adherence to all hand hygiene (HH) guidelines. Location information can play a major role in enhancing HH monitoring resolution. This paper proposes a BLE-based solution to localize healthcare workers inside the patient room. Localization accuracy was evaluated using one to four beacons in a binary (entrance/proximal patient zone) or multiclass (entrance/sink/right side of the bed/left side of the bed) proximity-based positioning problem. Dynamic fingerprints were collected from nine different subjects performing 30 common nursing activities. Extremely randomized trees algorithm achieved the best accuracies of 81% and 71% in the binary and multiclass classifications, respectively. The proposed method can be further used as a proxy for caregiving activity recognition to improve the risk of infection transmission in healthcare settings.

A Survey of 3D Indoor Localization Systems and Technologies

Indoor localization has recently and significantly attracted the interest of the research community mainly due to the fact that Global Navigation Satellite Systems (GNSSs) typically fail in indoor environments. In the last couple of decades, there have been several works reported in the literature that attempt to tackle the indoor localization problem. However, most of this work is focused solely on two-dimensional (2D) localization, while very few papers consider three dimensions (3D). There is also a noticeable lack of survey papers focusing on 3D indoor localization; hence, in this paper, we aim to carry out a survey and provide a detailed critical review of the current state of the art concerning 3D indoor localization including geometric approaches such as angle of arrival (AoA), time of arrival (ToA), time difference of arrival (TDoA), fingerprinting approaches based on Received Signal Strength (RSS), Channel State Information (CSI), Magnetic Field (MF) and Fine Time Measurement (FTM), as well as fusion-based and hybrid-positioning techniques. We provide a variety of technologies, with a focus on wireless technologies that may be utilized for 3D indoor localization such as WiFi, Bluetooth, UWB, mmWave, visible light and sound-based technologies. We critically analyze the advantages and disadvantages of each approach/technology in 3D localization.

Comprehensive Analysis of Applied Machine Learning in Indoor Positioning Based on Wi-Fi: An Extended Systematic Review

Nowadays, there are a multitude of solutions for indoor positioning, as opposed to standards for outdoor positioning such as GPS. Among the different existing studies on indoor positioning, the use of Wi-Fi signals together with Machine Learning algorithms is one of the most important, as it takes advantage of the current deployment of Wi-Fi networks and the increase in the computing power of computers. Thanks to this, the number of articles published in recent years has been increasing. This fact makes a review necessary in order to understand the current state of this field and to classify different parameters that are very useful for future studies. What are the most widely used machine learning techniques? In what situations have they been tested? How accurate are they? Have datasets been properly used? What type of Wi-Fi signals have been used? These and other questions are answered in this analysis, in which 119 papers are analyzed in depth following PRISMA guidelines.

Interpolation Methods to Improve Data Quality of Indoor Positioning Data for Dairy Cattle

Position data from real-time indoor positioning systems are increasingly used for studying individual cow behavior and social behavior in dairy herds. However, missing data challenges achieving reliable continuous activity monitoring and behavior studies. This study investigates the pattern of missing data and alternative interpolation methods in ultra-wideband based real-time indoor positioning systems in a free-stall barn. We collected 3 months of position data from a Swedish farm with around 200 cows. Data sampled for 6 days from 69 cows were used in subsequent analyzes to determine the location and duration of missing data. Data from 20 cows with the most reliable tags were selected to compare the effects of four different interpolation methods (previous, linear interpolation, cubic spline data interpolation and modified Akima interpolation). By comparing the observed data with the interpolations of the simulated missing data, the mean error distance varied from around 55 cm, using the previously last observed position, to around 17 cm for modified Akima. Modified Akima interpolation has the lowest error distance for all investigated activities (rest, walking, standing, feeding). Larger error distances were found in areas where the cows walk and turn, such as the corner between feeding and cubicles. Modified Akima interpolation is expected to be useful in the subsequent analyses of data gathered using real-time indoor positioning systems.

Multi-AP and Test Point Accuracy of the Results in WiFi Indoor Localization

WiFi-based indoor positioning has attracted intensive research activities. While localization accuracy is steadily improving due to the application of advanced algorithms, the factors that affect indoor localization accuracy have not been sufficiently understood. Most localization algorithms used in changing indoor spaces are Angle-of-Arrival (AoA) based, and they deploy the conventional MUSIC algorithm. The localization accuracy can be achieved by algorithm improvements or joint localization that deploys multiple Access Points (APs). We performed an experiment that assessed the Test Point (TP) accuracy and distribution of results in a complex environment. The testing space was a 290 m2 three-room environment with three APs with 38 TPs. The joint localization using three APs was performed in the same test space. We developed and implemented a new algorithm for improved accuracy of joint localization. We analyzed the statistical characteristics of the results based on each TP and show that the local space-dependent factors are the key factors for localization accuracy. The most important factors that cause errors are distance, obstacles, corner locations, the location of APs, and the angular orientation of the antenna array. Compared with the well-known SpotFi algorithm, we achieved a mean accuracy (across all TPs) improvement of 46%. The unbiased joint localization median accuracy improved by 20% as compared to the best individual localization.

Capturing Upper Body Kinematics and Localization with Low-Cost Sensors for Rehabilitation Applications

For upper extremity rehabilitation, quantitative measurements of a person’s capabilities during activities of daily living could provide useful information for therapists, including in telemedicine scenarios. Specifically, measurements of a person’s upper body kinematics could give information about which arm motions or movement features are in need of additional therapy, and their location within the home could give context to these motions. To that end, we present a new algorithm for identifying a person’s location in a region of interest based on a Bluetooth received signal strength (RSS) and present an experimental evaluation of this and a different Bluetooth RSS-based localization algorithm via fingerprinting. We further present algorithms for and experimental results of inferring the complete upper body kinematics based on three standalone inertial measurement unit (IMU) sensors mounted on the wrists and pelvis. Our experimental results for localization find the target location with a mean square error of 1.78 m. Our kinematics reconstruction algorithms gave lower errors with the pelvis sensor mounted on the person’s back and with individual calibrations for each test. With three standalone IMUs, the mean angular error for all of the upper body segment orientations was close to 21 degrees, and the estimated elbow and shoulder angles had mean errors of less than 4 degrees.

Using Bluetooth Low Energy Technology to Perform ToF-Based Positioning

Many distributed systems that perform indoor positioning are often based on ultrasound signals and time domain measurements exchanged between low-cost ultrasound transceivers. Synchronization between transmitters and receivers is usually needed. In this paper, the use of BLE technology to achieve time synchronization by wirelessly triggered ultrasound transceivers is analyzed. Building on a previous work, the proposed solution uses BLE technology as communication infrastructure and achieves a level of synchronization compatible with Time of Flight (ToF)-based distance estimations and positioning. The proposed solution was validated experimentally. First, a measurement campaign of the time-synchronization delay for the adopted embedded platforms was carried out. Then, ToF-based distance estimations and positioning were performed. The results show that an accurate and low-cost ToF-based positioning system is achievable, using ultrasound transmissions and triggered by BLE RF transmissions.

A Survey of Recent Indoor Localization Scenarios and Methodologies

Recently, various novel scenarios have been studied for indoor localization. The trilateration is known as a classic theoretical model of geometric-based indoor localization, with uniform RSSI data that can be transferred directly into distance ranges. Then, a trilateration solution can be algebraically acquired from theses ranges, in order to fix user’s actual location. However, the collected RSSI or other measurement data should be further processed and classified to lower the localization error rate, instead of using the raw data influenced by multi-path effect, multiple nonlinear interference and noises. In this survey, a large number of existing techniques are presented for different indoor network structures and channel conditions, divided as LOS (light-of-sight) and NLOS (non light-of-sight). Besides, the input measurement data such as RSSI (received signal strength indication), TDOA (time difference of arrival), DOA (distance of arrival), and RTT (round trip time) are studied towards different application scenarios. The key localization techniques like RSSI-based fingerprinting technique are presented using supervised machine learning methods, namely SVM (support vector machine), KNN (K nearest neighbors) and NN (neural network) methods, especially in an offline training phase. Other unsupervised methods as isolation forest, k-means, and expectation maximization methods are utilized to further improve the localization accuracy in online testing phase. For Bayesian filtering methods, apart from the basic linear Kalman filter (LKF) methods, nonlinear stochastic filters such as extended KF, cubature KF, unscented KF and particle filters are introduced. These nonlinear methods are more suitable for dynamic localization models. In addition to the localization accuracy, the other important performance features and evaluation aspects are presented in our paper: scalability, stability, reliability, and the complexity of proposed algorithms is compared in this survey. Our paper provides a comprehensive perspective to compare the existing techniques and related practical localization models, with the aim of improving localization accuracy and reducing the complexity of the system.