As smartphone technology advances and its market penetration increases, indoor positioning for smartphone users is becoming an increasingly important issue. Floor localization is especially critical to indoor positioning techniques. Numerous research efforts have been proposed for improving the floor localization accuracy using information from barometers, accelerometers, Bluetooth Low Energy (BLE), and Wi-Fi signals. Despite these existing efforts, no approach has been able to determine what floor smartphone users are on with near 100% accuracy. To address this problem, we present a novel pressure-pair based method called FloorPair, which offers near 100% accurate floor localization. The rationale of FloorPair is to construct a relative pressure map using highly accurate relative pressure values from smartphones with two novel features: first, we marginalized the uncertainty from sensor drifts and unreliable absolute pressure values of barometers by paring the pressure values of two floors, and second, we maintained high accuracy over time by applying an iterative optimization method, making our method sustainable. We evaluated the validity of the FloorPair approach by conducting extensive field experiments in various types of buildings to show that FloorPair is an accurate and sustainable floor localization method.
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