A Semi-Supervised WLAN Indoor Localization Method Based on l1-Graph Algorithm

For indoor location estimation based on received signal strength( RSS) in wireless local area networks( WLAN),in order to reduce the influence of noise on the positioning accuracy,a large number of RSS should be collected in offline phase. Therefore,collecting training data with positioning information is time consuming which becomes the bottleneck of WLAN indoor localization. In this paper,the traditional semisupervised learning method based on k-NN and ε-NN graph for reducing collection workload of offline phase are analyzed,and the result shows that the k-NN or ε-NN graph are sensitive to data noise,which limit the performance of semi-supervised learning WLAN indoor localization system. Aiming at the above problem,it proposes a l1-graph-algorithm-based semi-supervised learning( LG-SSL) indoor localization method in which the graph is built by l1-norm algorithm. In our system,it firstly labels the unlabeled data using LG-SSL and labeled data to build the Radio Map in offline training phase,and then uses LG-SSL to estimate user's location in online phase. Extensive experimental results show that,benefit from the robustness to noise and sparsity ofl1-graph,LG-SSL exhibits superior performance by effectively reducing the collection workload in offline phase and improving localization accuracy in online phase.

Anonymous crowdsourcing-based WLAN indoor localization

In order to solve the problem of location privacy under big data and improve the user positioning experience,a new concept of anonymous crowdsourcing-based WLAN indoor localization is proposed by employing the Micro-Electro-Mechanical System(MEMS)motion sensors as well as WLAN module in off-the-shelf smartphones.First of all,the crowdsourced motion traces with similar Received Signal Strength(RSS)sequences are assembled into a motion graph.Second,the mobility map is constructed according to traces segmentation and clustering.Third,the pixel template matching is adopted to physically label the pre-constructed mobility map.Finally,the robust Extended Kalman Filter(EKF)is designed to perform localization by matching the newly-collected RSS measurements against the mobility map.The extensive experimental results show that the proposed approach is capable of constructing a physically-labeled mobility map from the sporadically-collected crowdsourced motion traces as well as achieving satisfactory localization accuracy in a cost-efficient manner.

SNR and RSSI Based an Optimized Machine Learning Based Indoor Localization Approach:Multistory Round Building Scenario over LoRa Network

In situations when the precise position of a machine is unknown,localization becomes crucial.This research focuses on improving the position prediction accuracy over long-range(LoRa)network using an optimized machine learning-based technique.In order to increase the prediction accuracy of the reference point position on the data collected using the fingerprinting method over LoRa technology,this study proposed an optimized machine learning(ML)based algorithm.Received signal strength indicator(RSSI)data from the sensors at different positions was first gathered via an experiment through the LoRa network in a multistory round layout building.The noise factor is also taken into account,and the signal-to-noise ratio(SNR)value is recorded for every RSSI measurement.This study concludes the examination of reference point accuracy with the modified KNN method(MKNN).MKNN was created to more precisely anticipate the position of the reference point.The findings showed that MKNN outperformed other algorithms in terms of accuracy and complexity.

Improved PSO-Extreme Learning Machine Algorithm for Indoor Localization

Wi Fi and fingerprinting localization method have been a hot topic in indoor positioning because of their universality and location-related features.The basic assumption of fingerprinting localization is that the received signal strength indication(RSSI)distance is accord with the location distance.Therefore,how to efficiently match the current RSSI of the user with the RSSI in the fingerprint database is the key to achieve high-accuracy localization.In this paper,a particle swarm optimization-extreme learning machine(PSO-ELM)algorithm is proposed on the basis of the original fingerprinting localization.Firstly,we collect the RSSI of the experimental area to construct the fingerprint database,and the ELM algorithm is applied to the online stages to determine the corresponding relation between the location of the terminal and the RSSI it receives.Secondly,PSO algorithm is used to improve the bias and weight of ELM neural network,and the global optimal results are obtained.Finally,extensive simulation results are presented.It is shown that the proposed algorithm can effectively reduce mean error of localization and improve positioning accuracy when compared with K-Nearest Neighbor(KNN),Kmeans and Back-propagation(BP)algorithms.

Survey of Indoor Localization Based on Deep Learning

This study comprehensively examines the current state of deep learning (DL) usage in indoor positioning.It emphasizes the significance and efficiency of convolutional neural networks (CNNs) and recurrent neuralnetworks (RNNs). Unlike prior studies focused on single sensor modalities like Wi-Fi or Bluetooth, this researchexplores the integration of multiple sensor modalities (e.g.,Wi-Fi, Bluetooth, Ultra-Wideband, ZigBee) to expandindoor localization methods, particularly in obstructed environments. It addresses the challenge of precise objectlocalization, introducing a novel hybrid DL approach using received signal information (RSI), Received SignalStrength (RSS), and Channel State Information (CSI) data to enhance accuracy and stability. Moreover, thestudy introduces a device-free indoor localization algorithm, offering a significant advancement with potentialobject or individual tracking applications. It recognizes the increasing importance of indoor positioning forlocation-based services. It anticipates future developments while acknowledging challenges such as multipathinterference, noise, data standardization, and scarcity of labeled data. This research contributes significantly toindoor localization technology, offering adaptability, device independence, and multifaceted DL-based solutionsfor real-world challenges and future advancements. Thus, the proposed work addresses challenges in objectlocalization precision and introduces a novel hybrid deep learning approach, contributing to advancing locationcentricservices.While deep learning-based indoor localization techniques have improved accuracy, challenges likedata noise, standardization, and availability of training data persist. However, ongoing developments are expectedto enhance indoor positioning systems to meet real-world demands.

Scenario Modeling-Aided AP Placement Optimization Method for Indoor Localization and Network Access

Owing to the ubiquity of wireless networks and the popularity of WiFi infrastructures,received signal strength(RSS)-based indoor localization systems have received much attention.The placement of access points(APs)significantly influences localization accuracy and network access.However,the indoor scenario and network access are not fully considered in previous AP placement optimization methods.This study proposes a practical scenario modelingaided AP placement optimization method for improving localization accuracy and network access.In order to reduce the gap between simulation-based and field measurement-based AP placement optimization methods,we introduce an indoor scenario modeling and Gaussian process-based RSS prediction method.After that,the localization and network access metrics are implemented in the multiple objective particle swarm optimization(MOPSO)solution,Pareto front criterion and virtual repulsion force are applied to determine the optimal AP placement.Finally,field experiments demonstrate the effectiveness of the proposed indoor scenario modeling method and RSS prediction model.A thorough comparison confirms the localization and network access improvement attributed to the proposed anchor placement method.

Fine-grained grid computing model for Wi-Fi indoor localization in complex environments

The fingerprinting-based approach using the wireless local area network(WLAN)is widely used for indoor localization.However,the construction of the fingerprint database is quite time-consuming.Especially when the position of the access point(AP)or wall changes,updating the fingerprint database in real-time is difficult.An appropriate indoor localization approach,which has a low implementation cost,excellent real-time performance,and high localization accuracy and fully considers complex indoor environment factors,is preferred in location-based services(LBSs)applications.In this paper,we proposed a fine-grained grid computing(FGGC)model to achieve decimeter-level localization accuracy.Reference points(RPs)are generated in the grid by the FGGC model.Then,the received signal strength(RSS)values at each RP are calculated with the attenuation factors,such as the frequency band,three-dimensional propagation distance,and walls in complex environments.As a result,the fingerprint database can be established automatically without manual measurement,and the efficiency and cost that the FGGC model takes for the fingerprint database are superior to previous methods.The proposed indoor localization approach,which estimates the position step by step from the approximate grid location to the fine-grained location,can achieve higher real-time performance and localization accuracy simultaneously.The mean error of the proposed model is 0.36 m,far lower than that of previous approaches.Thus,the proposed model is feasible to improve the efficiency and accuracy of Wi-Fi indoor localization.It also shows high-accuracy performance with a fast running speed even under a large-size grid.The results indicate that the proposed method can also be suitable for precise marketing,indoor navigation,and emergency rescue.

A Robust Indoor Localization Algorithm Based on Polynomial Fitting and Gaussian Mixed Model

Wireless sensor network(WSN)positioning has a good effect on indoor positioning,so it has received extensive attention in the field of positioning.Non-line-of sight(NLOS)is a primary challenge in indoor complex environment.In this paper,a robust localization algorithm based on Gaussian mixture model and fitting polynomial is proposed to solve the problem of NLOS error.Firstly,fitting polynomials are used to predict the measured values.The residuals of predicted and measured values are clustered by Gaussian mixture model(GMM).The LOS probability and NLOS probability are calculated according to the clustering centers.The measured values are filtered by Kalman filter(KF),variable parameter unscented Kalman filter(VPUKF)and variable parameter particle filter(VPPF)in turn.The distance value processed by KF and VPUKF and the distance value processed by KF,VPUKF and VPPF are combined according to probability.Finally,the maximum likelihood method is used to calculate the position coordinate estimation.Through simulation comparison,the proposed algorithm has better positioning accuracy than several comparison algorithms in this paper.And it shows strong robustness in strong NLOS environment.

Radio map updated method based on subscriber locations in indoor WLAN localization

With the rapid development of wireless local area network （WLAN） technology, an important target of indoor positioning systems is to improve the positioning accuracy while reducing the online calibration effort to overcome signal time-varying. A novel fingerprint positioning algorithm, known as the adaptive radio map with updated method based on hidden Markov model （HMM）, is proposed. It is shown that by using a collection of user traces that can be cheaply obtained, the proposed algorithm can take advantage of these data to update the labeled calibration data to further improve the position estimation accuracy. This algorithm is a combination of machine learning, information gain theory and fingerprinting. By collecting data and testing the algorithm in a realistic indoor WLAN environment, the experiment results indicate that, compared with the widely used K nearest neighbor algorithm, the proposed algorithm can improve the positioning accuracy while greatly reduce the calibration effort.

TOA-Based NLOS Error Mitigation Algorithm for 3D Indoor Localization

In the process of indoor localization,the existence of the non-line of sight(NLOS)error will greatly reduce the localization accuracy.To reduce the impact of this error,a 3 dimensional(3D)indoor localization algorithm named LMR(LLS-Minimum-Residual)is proposed in this paper.We first estimate the NLOS error and use it to correct the measurement distances,and then calculate the target location with linear least squares(LLS)solution.The final nodes location can be obtained accurately by NLOS error mitigation.Our algorithm can work efficiently in both indoor 2D and 3D environments.The simulation results show that the proposed algorithm has better performance than traditional algorithms and it can significantly improve the localization accuracy.

Variance-based fingerprint distance adjustment algorithm for indoor localization

The multipath effect and movements of people in indoor environments lead to inaccurate localization. Through the test, calculation and analysis on the received signal strength indication （RSSI） and the variance of RSSI, we propose a novel variance-based fingerprint distance adjustment algorithm （VFDA）. Based on the rule that variance decreases with the increase of RSSI mean, VFDA calculates RSSI variance with the mean value of received RSSIs. Then, we can get the correction weight. VFDA adjusts the fingerprint distances with the correction weight based on the variance of RSSI, which is used to correct the fingerprint distance. Besides, a threshold value is applied to VFDA to improve its performance further. VFDA and VFDA with the threshold value are applied in two kinds of real typical indoor environments deployed with several Wi-Fi access points. One is a quadrate lab room, and the other is a long and narrow corridor of a building. Experimental results and performance analysis show that in indoor environments, both VFDA and VFDA with the threshold have better positioning accuracy and environmental adaptability than the current typical positioning methods based on the k-nearest neighbor algorithm and the weighted k-nearest neighbor algorithm with similar computational costs.

An Efficient Machine Learning Approach for Indoor Localization

Indoor localization has gained much attention over several decades due to enormous applications. However, the accuracy of indoor localization is hard to improve because the signal propagation has small scale effects which leads to inaccurate measurements. In this paper, we propose an efficient learning approach that combines grid search based kernel support vector machine and principle component analysis. The proposed approach applies principle component analysis to reduce high dimensional measurements. Then we design a grid search algorithm to optimize the parameters of kernel support vector machine in order to improve the localization accuracy. Experimental results indicate that the proposed approach reduces the localization error and improves the computational efficiency comparing with K-nearest neighbor, Back Propagation Neural Network and Support Vector Machine based methods.

An Improved Convolutional Neural Network Based Indoor Localization by Using Jenks Natural Breaks Algorithm

With the rapid growth of the demand for indoor location-based services(LBS), Wi-Fi received signal strength(RSS) fingerprints database has attracted significant attention because it is easy to obtain. The fingerprints algorithm based on convolution neural network(CNN) is often used to improve indoor localization accuracy. However, the number of reference points used for position estimation has significant effects on the positioning accuracy. Meanwhile, it is always selected arbitraily without any guiding standards. As a result, a novel location estimation method based on Jenks natural breaks algorithm(JNBA), which can adaptively choose more reasonable reference points, is proposed in this paper. The output of CNN is processed by JNBA, which can select the number of reference points according to different environments. Then, the location is estimated by weighted K-nearest neighbors(WKNN). Experimental results show that the proposed method has higher positioning accuracy without sacrificing more time cost than the existing indoor localization methods based on CNN.

Hybrid ToA and IMU indoor localization system by various algorithms

In this paper, we integrate inertial navigation system (INS) with wireless sensor network (WSN) to enhance the accuracy of indoor localization. Inertial measurement unit (IMU), the core of the INS, measures the accelerated and angular rotated speed of moving objects. Meanwhile, the ranges from the object to beacons, which are sensor nodes with known coordinates, are collected by time of arrival (ToA) approach. These messages are simultaneously collected and transmitted to the terminal. At the terminal, we set up the state transition models and observation models. According to them, several recursive Bayesian algorithms are applied to producing position estimations. As shown in the experiments, all of three algorithms do not require constant moving speed and perform better than standalone ToA system or standalone IMU system. And within them, two algorithms can be applied for the tracking on any path which is not restricted by the requirement that the trajectory between the positions at two consecutive time steps is a straight line.

Improved GNSS Cooperation Positioning Algorithm for Indoor Localization

For situations such as indoor and underground parking lots in which satellite signals are obstructed,GNSS cooperative positioning can be used to achieve highprecision positioning with the assistance of cooperative nodes.Here we study the cooperative positioning of two static nodes,node 1 is placed on the roof of the building and the satellite observation is ideal,node 2 is placed on the indoor windowsill where the occlusion situation is more serious,we mainly study how to locate node 2 with the assistance of node 1.Firstly,the two cooperative nodes are located with pseudo-range single point positioning,and the positioning performance of cooperative node is analyzed,therefore the information of pseudo-range and position of node 1 is obtained.Secondly,the distance between cooperative nodes is obtained by using the baseline method with double-difference carrier phase.Finally,the cooperative location algorithms are studied.The Extended Kalman Filtering(EKF),Unscented Kalman Filtering(UKF)and Particle Filtering(PF)are used to fuse the pseudo-range,ranging information and location information respectively.Due to the mutual influences among the cooperative nodes in cooperative positioning,the EKF,UKF and PF algorithms are improved by resetting the error covariance matrix of the cooperative nodes at each update time.Experimental results show that after being improved,the influence between the cooperative nodes becomes smaller,and the positioning performance of the nodes is better than before.

Domain adaptive methods for device diversity in indoor localization

To solve the problem of variations in radio frequency characteristics among different devices,transfer learning is applied to transform device diversity to domain adaptation in the indoor localization algorithm.A robust indoor localization algorithm based on the aligned fingerprints and ensemble learning called correlation alignment for localization(CALoc)is proposed with low computational complexity.The second-order statistical properties of fingerprints in the offline and online phase are needed to be aligned.The real-time online calibration method mitigates the impact of device heterogeneity largely.Without any time-consuming deep learning retraining process,CALoc online only needs 0.11 s.The effectiveness and efficiency of CALoc are verified by realistic experiments.The results show that compared to the traditional algorithms,a significant performance gain is achieved and that it achieves better positioning accuracy with a 19%improvement.

RSS-Based Indoor Localization System with Single Base Station

The paper proposes an Indoor Localization System(ILS)which uses only one fixed Base Station(BS)with simple non-reconfigurable antennas.The proposed algorithm measures Received Signal Strength(RSS)and maps it to the location in the room by estimating signal strength of a direct line of sight(LOS)signal and signal of the first order reflection from the wall.The algorithm is evaluated through both simulations and empirical measurements in a furnished open space office,sampling 21 different locations in the room.It is demonstrated the system can identify user’s real-time location with a maximum estimation error below 0.7 m for 80%confidence Cumulative Distribution Function(CDF)user level,demonstrating the ability to accurately estimate the receiver’s location within the room.The system is intended as a cost-efficient indoor localization technique,offering simplicity and easy integration with existing wireless communication systems.Unlike comparable single base station localization techniques,the proposed system does not require beam scanning,offering stable communication capacity while performing the localization process.

Ensembling Neural Networks for User’s Indoor Localization Using Magnetic Field Data from Smartphones

Predominantly the localization accuracy of the magnetic field-based localization approaches is severed by two limiting factors:Smartphone heterogeneity and smaller data lengths.The use of multifarioussmartphones cripples the performance of such approaches owing to the variability of the magnetic field data.In the same vein,smaller lengths of magnetic field data decrease the localization accuracy substantially.The current study proposes the use of multiple neural networks like deep neural network(DNN),long short term memory network(LSTM),and gated recurrent unit network(GRN)to perform indoor localization based on the embedded magnetic sensor of the smartphone.A voting scheme is introduced that takes predictions from neural networks into consideration to estimate the current location of the user.Contrary to conventional magnetic field-based localization approaches that rely on the magnetic field data intensity,this study utilizes the normalized magnetic field data for this purpose.Training of neural networks is carried out using Galaxy S8 data while the testing is performed with three devices,i.e.,LG G7,Galaxy S8,and LG Q6.Experiments are performed during different times of the day to analyze the impact of time variability.Results indicate that the proposed approach minimizes the impact of smartphone variability and elevates the localization accuracy.Performance comparison with three approaches reveals that the proposed approach outperforms them in mean,50%,and 75%error even using a lesser amount of magnetic field data than those of other approaches.

An Indoor Localization Approach Based on Fingerprint and Time-Difference of Arrival Fusion

In this paper,an effective target locating approach based on the fingerprint fusion posi-tioning(FFP)method is proposed which integrates the time-difference of arrival(TDOA)and the received signal strength according to the statistical variance of target position in the stationary 3D scenarios.The FFP method fuses the pedestrian dead reckoning(PDR)estimation to solve the moving target localization problem.We also introduce auxiliary parameters to estimate the target motion state.Subsequently,we can locate the static pedestrians and track the the moving target.For the case study,eight access stationary points are placed on a bookshelf and hypermarket;one target node is moving inside hypermarkets in 2D and 3D scenarios or stationary on the bookshelf.We compare the performance of our proposed method with existing localization algorithms such as k-nearest neighbor,weighted k-nearest neighbor,pure TDOA and fingerprinting combining Bayesian frameworks including the extended Kalman filter,unscented Kalman filter and particle fil-ter(PF).The proposed approach outperforms obviously the counterpart methodologies in terms of the root mean square error and the cumulative distribution function of localization errors,espe-cially in the 3D scenarios.Simulation results corroborate the effectiveness of our proposed approach.

Radio-map Establishment based on Fuzzy Clustering for WLAN Hybrid KNN/ANN Indoor Positioning

A novel radio-map establishment based on fuzzy clustering for hybrid K-Nearest Neighbor (KNN) and Artifi cial Neural Network (ANN) position algorithm in WLAN indoor environment is proposed. First of all, the Principal Component Analysis (PCA) is utilized for the purpose of simplifying input dimensions of position estimation algorithm and saving storage cost for the establishment of radio-map. Then, reference points (RPs) calibrated in the off-line phase are divided into separate clusters by Fuzzy C-means clustering (FCM), and membership degrees (MDs) for different clusters are also allocated to each RPs. However, the singular RPs cased by the multi-path effect signifi cantly decreases the clustering performance. Therefore, a novel radio-map establishment method is presented based on the modifi cation of signal samples recorded at singular RPs by surface fitting. In the on-line phase, the region which the mobile terminal (MT) belongs to is estimated according to the MDs firstly. Then, in estimated small dimensional regions, MT's coordinates are calculated byKNN positioning method for efficiency purpose. However, for the regions including singular RPs, ANN method is utilized because ofits great pattern matching ability. Furthermore, compared with other typical indoor positioning methods, feasibility and effectiveness of this hybrid KNN/ANN method are also verified by the experimental results in static and tracking situations.