A Radio-Inertial Localization and Tracking System with BLE Beacons Prior Maps

© 2018 IEEE. In this paper, we develop a system for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetometer sensors. We develop a novel and simplified probabilistic IMU motion model as the proposal distribution of the sequential Monte-Carlo technique to track the robot trajectory. Our algorithm can globally localize and track a robot with a priori unknown location, given an informative prior map of the Bluetooth Low Energy (BLE) beacons. Also, we formulate the problem as an optimization problem that serves as the Backend of the algorithm mentioned above (Front-end). Thus, by simultaneously solving for the robot trajectory and the map of BLE beacons, we recover a continuous and smooth trajectory of the robot, corrected locations of the BLE beacons, and the time-varying IMU bias. The evaluations achieved using hardware show that through the proposed closed-loop system the localization performance can be improved; furthermore, the system becomes robust to the error in the map of beacons by feeding back the optimized map to the Front-end

Localization System Supporting People with Cognitive Impairment and Their Caregivers

Localization systems are an important componentof Ambient and Assisted Living platforms supporting personswith cognitive impairments. The paper presents a positioningsystem being a part of the platform developed within the IONISEuropean project. The system’s main function is providing theplatform with data on user mobility and localization, whichwould be used to analyze his/her behavior and detect dementiawandering symptoms. An additional function of the system islocalization of items, which are frequently misplaced by dementiasufferers.The paper includes a brief description of system’s architecture,design of anchor nodes and tags and exchange of data betweendevices. both localization algorithms for user and item positioningare also presented. Exemplary results illustrating the system’scapabilities are also included