RSS-INS integration for cooperative indoor positioning

Location estimation based on received signal strength (RSS) is an increasingly popular method of low-cost positioning. However, the low accuracy afforded by RSS centric systems dramatically limits suitable applications. Herein we discuss a positioning system utilizing cooperative strategies and integration of RSS observables with inertial navigation system (INS) sensors such as those commonly found in mobile devices, e.g. smart phones, tablets, etc. We analyze the theoretical bounds of the system using the Bayesian Cramer-Rao bound (BCRB). Simulation results and theoretical analysis illustrate that significant improvement in positional accuracy over typical RSS methods can be achieved.

[1]  Xinrong Li,et al.  Collaborative Localization With Received-Signal Strength in Wireless Sensor Networks , 2007, IEEE Transactions on Vehicular Technology.

[2]  Rahim Tafazolli,et al.  Posterior Cramer-Rao Bound for Inertial Sensors Enhanced Mobile Positioning Under The Random Walk Motion Model , 2012, IEEE Wireless Communications Letters.

[3]  R.L. Moses,et al.  Locating the nodes: cooperative localization in wireless sensor networks , 2005, IEEE Signal Processing Magazine.

[4]  Xinrong Li,et al.  RSS-Based Location Estimation with Unknown Pathloss Model , 2006, IEEE Transactions on Wireless Communications.

[5]  Ching-Chun Huang,et al.  RSS-Based Indoor Positioning Based on Multi-Dimensional Kernel Modeling and Weighted Average Tracking , 2016, IEEE Sensors Journal.

[6]  Andrea Zanella,et al.  RSS-Based Ranging by Multichannel RSS Averaging , 2014, IEEE Wireless Communications Letters.

[7]  Rodney G. Vaughan,et al.  A statistical basis for lognormal shadowing effects in multipath fading channels , 1998, IEEE Trans. Commun..

[8]  A. S. Smirnov,et al.  Navigation system for a wide range of tasks based on IMU aided with heterogeneous additional information , 2015, 2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN).

[9]  David Tse,et al.  Fundamentals of Wireless Communication , 2005 .

[10]  Sailes K. Sengijpta.  Fundamentals of Statistical Signal Processing: Estimation Theory , 1995 .

[11]  Alfred O. Hero,et al.  Relative location estimation in wireless sensor networks , 2003, IEEE Trans. Signal Process..

[12]  Hao Wang,et al.  WSN Localization Using RSS in Three-Dimensional Space—A Geometric Method With Closed-Form Solution , 2016, IEEE Sensors Journal.

[13]  Fuxi Wen,et al.  Received Signal Strength-Based Robust Cooperative Localization With Dynamic Path Loss Model , 2016, IEEE Sensors Journal.

[14]  Kristine L. Bell,et al.  Bayesian Bounds for Parameter Estimation and Nonlinear Filtering/Tracking , 2007 .

[15]  Rodney G. Vaughan,et al.  Channels, Propagation and Antennas for Mobile Communications , 2003 .

[16]  Anthony J. Weiss,et al.  On the accuracy of a cellular location system based on RSS measurements , 2003, IEEE Trans. Veh. Technol..