Chapter 59 Particle Filtering in Collaborative Indoor Positioning

摘要

Satellite positioning accuracy cannot meet the required needs due to lack of GPS signals inside buildings. Wi-Fi fingerprinting has become a popular method of overcoming problems in indoor positioning and navigation. Yet the accuracy of fingerprinting is rather limited and the system is prone to the changes of the building structure and Wi-Fi networks. However, if mobile users can share their signal as well as ranging and positioning information collaboratively to form a local network, the information could be used to correct failures in the fingerprinting process and provide more signal and information to derive robust positioning results. This paper implements collaborative positioning using Particle Filters which give the potential of utilizing additional positioning information whenever possible. The filter takes into account the uncertainty of indoor positioning results. Therefore, it provides a series of possible solutions and outputs the most likely result. Simulation tests are carried out to evaluate the performance of the proposed algorithm. Results are analysed and improvement in accuracy could be seen in the results.