Map-Aware Models for Indoor Wireless Localization Systems: An Experimental Study

The accuracy of indoor wireless localization systems can be substantially enhanced by map-awareness, i.e., by the knowledge of the map of the environment in which localization signals are acquired. In fact, this knowledge can be exploited to cancel out, at least to some extent, the signal degradation due to propagation through physical obstructions, i.e., to the so called non-line-of-sight bias. This result can be achieved by developing novel localization techniques that rely on proper map-aware statistical modelling of the measurements they process. In this manuscript a unified statistical model for the measurements acquired in map-aware localization systems based on time-of-arrival and received signal strength techniques is developed and its experimental validation is illustrated. Finally, the accuracy of the proposed map-aware model is assessed and compared with that offered by its map-unaware counterparts. Our numerical results show that, when the quality of acquired measurements is poor, map-aware modelling can enhance localization accuracy by up to 110% in certain scenarios.Comment: 13 pages, 11 figures, 1 table. IEEE Transactions on Wireless Communications, 201

Orientation-Aware 3D SLAM in Alternating Magnetic Field from Powerlines

Identifying new sensing modalities for indoor localization is an interest of research. This paper studies powerline-induced alternating magnetic field (AMF) that fills the indoor space for the orientation-aware three-dimensional (3D) simultaneous localization and mapping (SLAM). While an existing study has adopted a uniaxial AMF sensor for SLAM in a plane surface, the design falls short of addressing the vector field nature of AMF and is therefore susceptible to sensor orientation variations. Moreover, although the higher spatial variability of AMF in comparison with indoor geomagnetism promotes location sensing resolution, extra SLAM algorithm designs are needed to achieve robustness to trajectory deviations from the constructed map. To address the above issues, we design a new triaxial AMF sensor and a new SLAM algorithm that constructs a 3D AMF intensity map regularized and augmented by a Gaussian process. The triaxial sensor’s orientation estimation is free of the error accumulation problem faced by inertial sensing. From extensive evaluation in eight indoor environments, our AMF-based 3D SLAM achieves sub-1m to 3m median localization errors in spaces of up to 500 m2 , sub-2° mean error in orientation sensing, and outperforms the SLAM systems based on Wi-Fi, geomagnetism, and uniaxial AMF by more than 30%

On power line positioning systems

Power line infrastructure is available almost everywhere. Positioning systems aim to estimate where a device or target is. Consequently, there may be an opportunity to use power lines for positioning purposes. This survey article reports the different efforts, working principles, and possibilities for implementing positioning systems relying on power line infrastructure for power line positioning systems (PLPS). Since Power Line Communication (PLC) systems of different characteristics have been deployed to provide communication services using the existing mains, we also address how PLC systems may be employed to build positioning systems. Although some efforts exist, PLPS are still prospective and thus open to research and development, and we try to indicate the possible directions and potential applications for PLPS.European Commissio

Simultaneous Localization and Mapping with Power Network Electromagnetic Field

Various sensing modalities have been exploited for indoor location sensing, each of which has well understood limitations, however. This paper presents a first systematic study on using the electromagnetic field (EMF) induced by a building's electric power network for simultaneous localization and mapping (SLAM). A basis of this work is a measurement study showing that the power network EMF sensed by either a customized sensor or smartphone's microphone as a side-channel sensor is spatially distinct and temporally stable. Based on this, we design a SLAM approach that can reliably detect loop closures based on EMF sensing results. With the EMF feature map constructed by SLAM, we also design an efficient online localization scheme for resource-constrained mobiles. Evaluation in three indoor spaces shows that the power network EMF is a promising modality for location sensing on mobile devices, which is able to run in real time and achieve sub-meter accuracy

Information Fusion for 5G IoT: An Improved 3D Localisation Approach Using K-DNN and Multi-Layered Hybrid Radiomap

Indoor positioning is a core enabler for various 5G identity and context-aware applications requiring precise and real-time simultaneous localisation and mapping (SLAM). In this work, we propose a K-nearest neighbours and deep neural network (K-DNN) algorithm to improve 3D indoor positioning. Our implementation uses a novel data-augmentation concept for the received signal strength (RSS)-based fingerprint technique to produce a 3D fused hybrid. In the offline phase, a machine learning (ML) approach is used to train a model on a radiomap dataset that is collected during the offline phase. The proposed algorithm is implemented on the constructed hybrid multi-layered radiomap to improve the 3D localisation accuracy. In our implementation, the proposed approach is based on the fusion of the prominent 5G IoT signals of Bluetooth Low Energy (BLE) and the ubiquitous WLAN. As a result, we achieved a 91% classification accuracy in 1D and a submeter accuracy in 2D

Experimental analysis of dense multipath components in an industrial environment

This work presents an analysis of dense multipath components (DMC) in an industrial workshop. Radio channel sounding was performed with a vector network analyzer and virtual antenna arrays. The specular and dense multipath components were estimated with the RiMAX algorithm. The DMC covariance structure of the RiMAX data model was validated. Two DMC parameters were studied: the distribution of radio channel power between specular and dense multipath, and the DMC reverberation time. The DMC power accounted for 23% to 70% of the total channel power. A significant difference between DMC powers in line-of-sight and nonline-of-sight was observed, which can be largely attributed to the power of the line-of-sight multipath component. In agreement with room electromagnetics theory, the DMC reverberation time was found to be nearly constant. Overall, DMC in the industrial workshop is more important than in office environments: it occupies a fraction of the total channel power that is 4% to 13% larger. The industrial environment absorbs on average 29% of the electromagnetic energy compared to 45%-51% for office environments in literature: this results in a larger reverberation time in the former environment. These findings are explained by the highly cluttered and metallic nature of the workshop

On the Performance Limits of Map-Aware Localization

Establishing bounds on the accuracy achievable by localization techniques represents a fundamental technical issue. Bounds on localization accuracy have been derived for cases in which the position of an agent is estimated on the basis of a set of observations and, possibly, of some a priori information related to them (e.g., information about anchor positions and properties of the communication channel). In this paper, new bounds are derived under the assumption that the localization system is map-aware, i.e., it can benefit not only from the availability of observations, but also from the a priori knowledge provided by the map of the environment where it operates. Our results show that: a) map-aware estimation accuracy can be related to some features of the map (e.g., its shape and area) even though, in general, the relation is complicated; b) maps are really useful in the presence of some combination of low SNRs and specific geometrical features of the map (e.g., the size of obstructions); c) in most cases, there is no need of refined maps since additional details do not improve estimation accuracy.United States. Air Force Office of Scientific Research (Grant FA9550-12-0287)United States. Office of Naval Research (Grant N00014-11-1-0397)Massachusetts Institute of Technology. Institute for Soldier Nanotechnologie

Performance evaluation of indoor localization techniques based on RF power measurements from active or passive devices

The performance of networks for indoor localization based on RF power measurements from active or passive devices is evaluated in terms of the accuracy, complexity, and costs. In the active device case, the terminal to be located measures the power transmitted by some devices inside its coverage area. To determine the terminal position in the area, power measurements are then compared with the data stored in an RF map of the area. A network architecture for localization based on passive devices is presented. Its operations are based on the measure of the power retransmitted from local devices interrogated by the terminal and on their identities. Performance of the two schemes is compared in terms of the probability of localization error as a function of the number (density) of active or passive devices. Analysis is carried out through simulation in a typical office-like environment whose propagation characteristics have been characterized experimentally. Considerations obtained in this work can be easily adapted to other scenarios. The procedure used for the analysis is general and can be easily extended to other situations