Characterising indoor positioning estimation using experimental data from an active RFID-based realtime location system

摘要

Indoor positioning has attracted much research effort due to manyrnpotential applications such as human or object tracking and inventoryrnmanagement. Whilst there are a number of indoor positioningrntechniques and algorithms developed to improve positioningrnestimation, there is still no systematic way to characterise thernestimation. In this paper, we propose a method comprising of threerncharacteristics to characterise indoor positioning estimation. Wernconducted experiments on an active radio frequency identificationrn(RFID)-based real-time location system in different environmentalrnconditions. We used both a human and a robot to traverse twornexperimental areas and collected positioning results at differentrnfixed points along the traversal path. Using this basic positioningrndata, we were able to characterise positioning estimation usingrnthree characterisations: position accuracy, centroid consistency andrnangular distribution. We demonstrate the use of these characteristicsrnfor examining different points in a travelling path and differentrnmeasurements.