Indoor Self-Localization and Orientation Estimation of Smartphones Using Acoustic Signals

We propose a new acoustic self-localization and orientation estimation algorithm for smartphones networks composed of commercial off-the-shelf devices equipped with two microphones and a speaker. Each smartphone acts as an acoustic transceiver, which emits and receives acoustic signals. Node locations are found by combining estimates of the range and direction of arrival (DoA) between node pairs using a maximum likelihood (ML) estimator. A tailored optimization algorithm is proposed to simultaneously solve the DoA uncertainty problem that arises from the use of only 2 microphones per node and obtain the azimuthal orientation of each node without requiring an electronic compass