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Several UWB location systems have already been proposed for accurate position estimation. These UWB systems, some available at commercial level, and others implemented as laboratory test-beds, have been individually evaluated for particular applications and under different fusion strategies. In this paper we compare two commercially available UWB systems (Decawave and Bespoon) under exactly the same...
In this paper we present our work on the indoor positioning of users (shoppers), using a network of Bluetooth Low Energy (BLE) beacons deployed in a large wholesale shopping store. Our objective is to accurately determine which product sections a user is adjacent to while traversing the store, using RSSI readings from multiple beacons, measured asynchronously on a standard commercial mobile device...
As sensor-rich mobile devices became a commodity, more opportunities appeared for the creation of location-aware services. While GPS is a well established solution for outdoor localization, there is still no standard solution for localization indoors. This paper presents a novel accurate indoor positioning mechanism that is meant to run in common smartphones to be a readily and widely available solution...
Indoor localisation continues to be a topic of growing importance. Despite the advances made, several profound problems are still present. For example, estimating an accurate position from a multimodal distribution or recovering from the influence of faulty measurements. Within this work, we solve such problems with the help of Monte Carlo smoothing methods, namely forward-backward smoother and backward...
This paper presents an experiment using real Long-Term Evolution (LTE) signals to extend positioning from outdoors to indoors. LTE signals are of interest for positioning applications because of their availability indoors, where GNSS signal reception is limited. Different approaches for time of arrival (TOA) extraction are evaluated for their positioning performance, combined with an extended Kalman...
In recent years the research on localization and navigation systems in GNSS-denied environments has been focused from both industry and research. Although many technologies based on e.g. UWB, WLAN, ultrasonic or infrared have been utilized, there is still no final solution for position and orientation determination in indoor areas. The fact, that applied signals in common approaches are influenced...
Wi-Fi enabled devices periodically broadcast unencrypted management information which can easily be used for an involuntary tracking of users in an area of interest. However, reliable trajectory estimations on this data remain challenging, due to arbitrary and imprecise position fixes of moving targets. Probabilistic methods can help to increase the estimation accuracy significantly, but may degrade...
The fingerprint location method based on the WiFi received signal strength (RSS), is one of the indoor positioning method owning the highest value of application currently. It uses distribution characteristic of WiFi RSS in the space to estimate user's location. But due to the unstable RSS measurements of WiFi signal in a fixed location, in online phase, the uncertain fluctuation of RSS measurements...
Linear and nonlinear filtering for state estimation (e.g. position estimation or sensor fusion) for indoor positioning and navigation applications is a challenging task. Sensor fusion becomes more important with cost-effective sensors being readily available. However, state estimation with recursive Bayesian filters for sensor fusion and filtering are difficult to apply. We present an overview for...
Collective Detection (CD) is an interesting technique for acquiring highly attenuated satellites signals in harsh environment. The idea of this approach is to process all signals in view collectively to take advantage of the spatial correlation between GNSS signals as vector acquisition. In this way, the acquisition of weak signals will be facilitated by the presence of stronger ones. Increasing the...
Indoor location tracking based on wireless sensors such as Wi-Fi and Bluetooth has recently received increased public attention in the context of location-based services (e.g. location-based advertising) and indoor navigation. However, until now, no clear best practices for filters, algorithms and sensor fusion have emerged, and, in fact, different use cases may require different sets of techniques...
In recent years, the importance of location-based services and indoor positioning systems increased significantly for both, research and industry. Visual localization systems have the advantage of not depending on dedicated infrastructure and thus they are interesting for navigation within buildings. While there are already approaches which are using pre-recorded databases of reference images to obtain...
Conventional localization systems require the target to carry a tag, which can be highly impractical for some individuals, such as the elderly, or in some situations, such as in emergencies. This requirement can be alleviated by an emerging set of tagless or device-free localization systems, of which Radio Tomographic Imaging (RTI) is a common example. Most variations of this technique assume the...
The research presented in this paper is focused on In-home positioning systems. These indoor environments are characterized by a reduced number of AP, narrow spaces and very important radio signal attenuation. Existing indoor techniques seems to be not totally suitable for these scenarios; this paper proposes an add-on for helping these techniques by the use of wearable ultrasound sensors (distance...
Automatic real-time localization of people inside buildings is a huge challenge. For demanding applications in building services, different sensors (e.g. WLAN, RFID, UWB, or ultrasound) are currently used for the real-time indoor positioning. Most systems are only suitable for specific applications or are used under certain conditions, e.g. additional infrastructures and/or sensory mechanisms are...
This paper proposes a Doppler resilient modulation approach that can be used in acoustic local positioning systems with Binary Phase-Shift Keying (BPSK) modulated signals for Time-of-Flight (ToF) estimation. The proposed approach is implemented in the receiver and can be performed in parallel with other classic techniques to improve the position estimation process. The technique is based on Differential...
There are many methods for indoor positioning. These methods are divided into the relative localization and absolute localization. In the relative localization, one widely used method is Pedestrian Dead Reckoning (PDR). Relative localization estimates the moving distance, orientation, and height of the pedestrian. However, relative localization has a problem caused by an accumulated error: the longer...
More and more pedestrians own devices (as a smartphone) that integrate a wide array of low-cost sensors (camera, IMU, magnetometer and GNSS receiver). GNSS is usually used for pedestrian localization in urban environment, but signal suffers of an inaccuracy of several meters. In order to have a more accurate localization and improve pedestrian navigation and urban mobility, we present a method for...
A Map aided Pedestrian Dead Reckoning (PDR) algorithm is proposed to mitigate the drift errors and step detection limitations of pedestrian dead reckoning algorithm with handheld sensors in indoor and outdoor spaces. Specific to this context is the changing lever-arm between the handheld device and the pedestrian center of mass that introduces a misalignment between the inertial sensors and the walking...
Systems for indoor navigation differ substantially in implementation and maintenance effort as well as in costs. A system must work on any smart phone to ensure broad adoption and avoid isolated solutions. It must also work as automated as possible. A routing graph is commonly used for path planning. But generally, no routing graph exists and it must be computed. We propose a method to compute a routing...
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