Algorithm for Dynamic Fingerprinting Radio Map Creation Using IMU Measurements

Proposal for a Localization System for an IoT Ecosystem

In the last decade, positioning using wireless signals has gained a lot of attention since it could open new opportunities for service providers. Localization is important, especially in indoor environments, where the widely used global navigation satellite systems (GNSS) signals suffer from high signal attenuation and multipath propagation, resulting in poor accuracy or a loss of positioning service. Moreover, in an Internet of things (IoT) environment, the implementation of GNSS receivers into devices may result in higher demands on battery capacity, as well as increased cost of the hardware itself. Therefore, alternative localization systems that are based on wireless signals for the communication of IoT devices are gaining a lot of attention. In this paper, we provide a design of an IoT localization system, which consists of multiple localization modules that can be utilized for the positioning of IoT devices that are connected thru various wireless technologies. The proposed system can currently perform localization based on received signals from LoRaWAN, ZigBee, Wi-Fi, UWB and cellular technologies. The implemented pedestrian dead reckoning algorithm can process the data measured by a mobile device that is equipped with inertial sensors to construct a radio map and thus help with the deployment of the positioning services based on a fingerprinting approach.

Automated Calibration of RSS Fingerprinting Based Systems Using a Mobile Robot and Machine Learning

This paper describes an automated method for the calibration of RSS-fingerprinting-based positioning systems. The method assumes using a robotic platform to gather fingerprints in the system environment and using them for training machine learning models. The obtained models are used for positioning purposes during the system operation. The presented calibration method covers all steps of the system calibration, from mapping the system environment using a GraphSLAM based algorithm to training models for radio map calibration. The study analyses four different models: fitting a log-distance path loss model, Gaussian Process Regression, Artificial Neural Network and Random Forest Regression. The proposed method was tested in a BLE-based indoor localisation system set up in a fully furnished apartment. The results have shown that the tested models allow for localisation with accuracy comparable to those reported in the literature. In the case of the Neural Network regression, the median error of robot positioning was 0.87 m. The median of trajectory error in a walking person localisation scenario was 0.4 m.