Wi-Fi Positioning Dataset with Multiusers and Multidevices Considering Spatio-Temporal Variations

Precise information on indoor positioning provides a foundation for position-related customer services.Despite the emergence of several indoor positioning technologies such as ultrawideband,infrared,radio frequency identification,Bluetooth beacons,pedestrian dead reckoning,and magnetic field,Wi-Fi is one of the most widely used technologies.Predominantly,Wi-Fi fingerprinting is the most popular method and has been researched over the past two decades.Wi-Fi positioning faces three core problems:device heterogeneity,robustness to signal changes caused by human mobility,and device attitude,i.e.,varying orientations.The existing methods do not cover these aspects owing to the unavailability of publicly available datasets.This study introduces a dataset that includes the Wi-Fi received signal strength(RSS)gathered using four different devices,namely Samsung Galaxy S8,S9,A8,LG G6,and LG G7,operated by three surveyors,including a female and two males.In addition,three orientations of the smartphones are used for the data collection and include multiple buildings with a multifloor environment.Various levels of human mobility have been considered in dynamic environments.To analyze the time-related impact on Wi-Fi RSS,data over 3 years have been considered.

MagneFi: Multiuser, Multi-Building and Multi-Floor Geomagnetic Field Dataset for Indoor Positioning

Indoor positioning and localization have emerged as a potential research area during the last few years owing to the wide proliferation of smartphones and the inception of location-attached services for the consumer industry.Due to the importance of precise location information,several positioning technologies are adopted such as Wi-Fi,ultrawideband,infrared,radio frequency identification,Bluetooth beacons,pedestrian dead reckoning,and magnetic field,etc.Although Wi-Fi and magnetic field-based positioning are more attractive concerning the deployment of Wi-Fi access points and ubiquity of magnetic field data,the latter is preferred as it does not require any additional infrastructure as other approaches do.Despite the advantages of magnetic field positioning,comparing the performance of positioning and localization algorithms is very difficult due to the lack of good public datasets that cover various aspects of the magnetic field data.Available datasets do not provide the data to analyze the impact of device heterogeneity,user heights,and time-specific magnetic field mutation.Moreover,multi-floor and multibuilding data are available for the evaluation of state-of-the-art approaches.To overcome the above-mentioned issues,this study presents multi-user,multidevice,multi-building magnetic field data which is collected over a longer period.The dataset contains the data from five different smartphones including Samsung Galaxy S8,S9,A8,LG G6,and LG G7 for three geographically separated buildings.Three users including one female and two males collected the data for various path geometry and data collection scenarios.Moreover,the data contains the magnetic field samples collected on stairs to test multifloor localization.Besides the magnetic field data,the data from inertial measurement unit sensors like the accelerometer,motion sensors,and barometer is provided as well.

Distributed adaptive direct position determination based on diffusion framework

The conventional direct position determination（DPD） algorithm processes all received signals on a single sensor.When sensors have limited computational capabilities or energy storage,it is desirable to distribute the computation among other sensors.A distributed adaptive DPD（DADPD）algorithm based on diffusion framework is proposed for emitter localization.Unlike the corresponding centralized adaptive DPD（CADPD） algorithm,all but one sensor in the proposed algorithm participate in processing the received signals and estimating the common emitter position,respectively.The computational load and energy consumption on a single sensor in the CADPD algorithm is distributed among other computing sensors in a balanced manner.Exactly the same iterative localization algorithm is carried out in each computing sensor,respectively,and the algorithm in each computing sensor exhibits quite similar convergence behavior.The difference of the localization and tracking performance between the proposed distributed algorithm and the corresponding CADPD algorithm is negligible through simulation evaluations.

A New Monocular Vision Measurement Method to Estimate 3D Positions of Objects on Floor

A new visual measurement method is proposed to estimate three-dimensional （3D） position of the object on the floor based on a single camera. The camera fixed on a robot is in an inclined position with respect to the floor. A measurement model with the camera＇s extrinsic parameters such as the height and pitch angle is described. Single image of a chessboard pattern placed on the floor is enough to calibrate the camera＇s extrinsic parameters after the camera＇s intrinsic parameters are calibrated. Then the position of object on the floor can be computed with the measurement model. Furthermore, the height of object can be calculated with the paired-points in the vertical line sharing the same position on the floor. Compared to the conventional method used to estimate the positions on the plane, this method can obtain the 3D positions. The indoor experiment testifies the accuracy and validity of the proposed method.

Novel passive localization algorithm based on double side matrix-restricted total least squares

In order to solve the bearings-only passive localization problem in the presence of erroneous observer position, a novel algorithm based on double side matrix-restricted total least squares （DSMRTLS） is proposed. First, the aforementioned passive localization problem is transferred to the DSMRTLS problem by deriving a multiplicative structure for both the observation matrix and the observation vector. Second, the corresponding optimization problem of the DSMRTLS problem without constraint is derived, which can be approximated as the generalized Rayleigh quotient minimization problem. Then, the localization solution which is globally optimal and asymptotically unbiased can be got by generalized eigenvalue decomposition. Simulation results verify the rationality of the approximation and the good performance of the proposed algorithm compared with several typical algorithms.