Indoor environment dataset based on RSSI collected with bluetooth devices.

This paper describes a data collection experiment focused on researching indoor positioning systems using Bluetooth Low Energy (BLE) devices. The study was conducted in a real-world scenario with 150 test points and collected signals from 11 mobile devices. The dataset contains RSSI values from the mobile devices in relation to 15 fixed anchor nodes in the experimentation scenario. The dataset includes data on device identification, labels and coordinates of test points, and the room where the data was collected. The data is organized as CSV files and offers valuable information for researchers developing and assessing location models. By sharing this dataset, we aim to support the creation of robust and precise indoor localization models.

Tape-Shaped, Multiscale, and Continuous-Readable Fiducial Marker for Indoor Navigation and Localization Systems.

The present study proposes a fiducial marker for location systems that uses computer vision. The marker employs a set of tape-shaped markers that facilitate their positioning in the environment, allowing continuous reading to cover the entire perimeter of the environment and making it possible to minimize interruptions in the location service. Because the marker is present throughout the perimeter of the environment, it presents hierarchical coding patterns that allow it to be robust against multiple detection scales. We implemented an application to help the user generate the markers with a floor plan image. We conducted two types of tests, one in a 3D simulation environment and one in a real-life environment with a smartphone. The tests made it possible to measure the performance of the tape-shaped marker with readings at multiple distances compared to ArUco, QRCode, and STag with detections at distances of 10 to 0.5 m. The localization tests in the 3D environment analyzed the time of marker detection during the journey from one room to another in positioning conditions (A) with the markers positioned at the baseboard of the wall, (B) with the markers positioned at camera height, and (C) with the marker positioned on the floor. The localization tests in real conditions allowed us to measure the time of detections in favorable conditions of detections, demonstrating that the tape-shaped-marker-detection algorithm is not yet robust against blurring but is robust against lighting variations, difficult angle displays, and partial occlusions. In both test environments, the marker allowed for detection at multiple scales, confirming its functionality.

Automated Detection of In-Home Activities with Ultra-Wideband Sensors.

As Canada's population of older adults rises, the need for aging-in-place solutions is growing due to the declining quality of long-term-care homes and long wait times. While the current standards include questionnaire-based assessments for monitoring activities of daily living (ADLs), there is an urgent need for advanced indoor localization technologies that ensure privacy. This study explores the use of Ultra-Wideband (UWB) technology for activity recognition in a mock condo in the Glenrose Rehabilitation Hospital. UWB systems with built-in Inertial Measurement Unit (IMU) sensors were tested, using anchors set up across the condo and a tag worn by patients. We tested various UWB setups, changed the number of anchors, and varied the tag placement (on the wrist or chest). Wrist-worn tags consistently outperformed chest-worn tags, and the nine-anchor configuration yielded the highest accuracy. Machine learning models were developed to classify activities based on UWB and IMU data. Models that included positional data significantly outperformed those that did not. The Random Forest model with a 4 s data window achieved an accuracy of 94%, compared to 79.2% when positional data were excluded. These findings demonstrate that incorporating positional data with IMU sensors is a promising method for effective remote patient monitoring.

Multi-Sensor-Assisted Low-Cost Indoor Non-Visual Semantic Map Construction and Localization for Modern Vehicles.

With the transformation and development of the automotive industry, low-cost and seamless indoor and outdoor positioning has become a research hotspot for modern vehicles equipped with in-vehicle infotainment systems, Internet of Vehicles, or other intelligent systems (such as Telematics Box, Autopilot, etc.). This paper analyzes modern vehicles in different configurations and proposes a low-cost, versatile indoor non-visual semantic mapping and localization solution based on low-cost sensors. Firstly, the sliding window-based semantic landmark detection method is designed to identify non-visual semantic landmarks (e.g., entrance/exit, ramp entrance/exit, road node). Then, we construct an indoor non-visual semantic map that includes the vehicle trajectory waypoints, non-visual semantic landmarks, and Wi-Fi fingerprints of RSS features. Furthermore, to estimate the position of modern vehicles in the constructed semantic maps, we proposed a graph-optimized localization method based on landmark matching that exploits the correlation between non-visual semantic landmarks. Finally, field experiments are conducted in two shopping mall scenes with different underground parking layouts to verify the proposed non-visual semantic mapping and localization method. The results show that the proposed method achieves a high accuracy of 98.1% in non-visual semantic landmark detection and a low localization error of 1.31 m.

An Enhanced Indoor Three-Dimensional Localization System with Sensor Fusion Based on Ultra-Wideband Ranging and Dual Barometer Altimetry.

Accurate three-dimensional (3D) localization within indoor environments is crucial for enhancing item-based application services, yet current systems often struggle with localization accuracy and height estimation. This study introduces an advanced 3D localization system that integrates updated ultra-wideband (UWB) sensors and dual barometric pressure (BMP) sensors. Utilizing three fixed UWB anchors, the system employs geometric modeling and Kalman filtering for precise tag 3D spatial localization. Building on our previous research on indoor height measurement with dual BMP sensors, the proposed system demonstrates significant improvements in data processing speed and stability. Our enhancements include a new geometric localization model and an optimized Kalman filtering algorithm, which are validated by a high-precision motion capture system. The results show that the localization error is significantly reduced, with height accuracy of approximately ±0.05 m, and the Root Mean Square Error (RMSE) of the 3D localization system reaches 0.0740 m. The system offers expanded locatable space and faster data output rates, delivering reliable performance that supports advanced applications requiring detailed 3D indoor localization.

On the Use and Construction of Wi-Fi Fingerprint Databases for Large-Scale Multi-Building and Multi-Floor Indoor Localization: A Case Study of the UJIIndoorLoc Database.

Large-scale multi-building and multi-floor indoor localization has recently been the focus of intense research in indoor localization based on Wi-Fi fingerprinting. Although significant progress has been made in developing indoor localization algorithms, few studies are dedicated to the critical issues of using existing and constructing new Wi-Fi fingerprint databases, especially for large-scale multi-building and multi-floor indoor localization. In this paper, we first identify the challenges in using and constructing Wi-Fi fingerprint databases for large-scale multi-building and multi-floor indoor localization and then provide our recommendations for those challenges based on a case study of the UJIIndoorLoc database, which is the most popular publicly available Wi-Fi fingerprint multi-building and multi-floor database. Through the case study, we investigate its statistical characteristics with a focus on the three aspects of (1) the properties of detected wireless access points, (2) the number, distribution and quality of labels, and (3) the composition of the database records. We then identify potential issues and ways to address them using the UJIIndoorLoc database. Based on the results from the case study, we not only provide valuable insights on the use of existing databases but also give important directions for the design and construction of new databases for large-scale multi-building and multi-floor indoor localization in the future.

SALOS-A UWB Single-Anchor Indoor Localization System Based on a Statistical Multipath Propagation Model.

Among other methods, UWB-based multi-anchor localization systems have been established for industrial indoor localization systems. However, multi-anchor systems have high costs and installation effort. By exploiting the multipath propagation of the UWB signal, the infrastructure and thus the costs of conventional systems can be reduced. Our UWB Single-Anchor Localization System (SALOS) successfully pursues this approach. The idea is to create a localization system with sophisticated signal modeling. Therefore, measured reference, like fingerprinting or training, is not required for position estimation. Although SALOS has already been implemented and tested successfully in an outdoor scenario with multipath propagation, it has not yet been evaluated in an indoor environment with challenging and hardly predictable multipath propagation. For this purpose, we have developed new algorithms for the existing hardware, mainly a three-dimensional statistical multipath propagation model for arbitrary spatial geometries. The signal propagation between the anchor and predefined candidate points for the tag position is modeled in path length and complex-valued receive amplitudes. For position estimation, these modeled signals are combined to multiple sets and compared to UWB measurements via a similarity metric. Finally, a majority decision of multiple position estimates is performed. For evaluation, we implement our localization system in a modular fashion and install the system in a building. For a fixed grid of 20 positions, the localization is evaluated in terms of position accuracy. The system results in correct position estimations for more than 73% of the measurements.

Evaluation of the accuracy of a UWB tracker for in-home positioning for older adults.

The population of older adults is rapidly growing. In-home monitoring systems have been used to support aging-in-place. Ambient sensors or wearable localizers can be used but may be too low resolution, while camera systems are invasive to privacy. Ultra-wideband (UWB) localization offers precise positioning by placing anchors throughout the house and wearing a tag that is tracked by the anchors. In this study, the accuracy of UWB for indoor tracking was evaluated in a motion capture gait lab and in a mock condo in the Glenrose Rehabilitation Hospital. First, the configuration of UWB was tested, changing factors related to sampling time, anchor placement and line-of-sight. Comparing these factors to the configurations recommended by the manufacturer guidelines, accuracies remained within 14 cm. We then performed static and dynamic accuracy tests, with dynamic testing comprised of rolling and walking motions. In the motion capture lab, we found localization accuracies of 7.0 ± 11.1 cm while in the mock condo, we found accuracies of 27.3 ± 12.9 cm. Dynamic testing with rolling motions had an average of 19.1 ± 1.6 cm while walking was 20.5 ± 4.2 cm. The mean accuracy of UWB is within the 30 cm target for indoor localization.

A Performance Comparison between Different Industrial Real-Time Indoor Localization Systems for Mobile Platforms.

The flexibility and versatility associated with autonomous mobile robots (AMR) have facilitated their integration into different types of industries and tasks. However, as the main objective of their implementation on the factory floor is to optimize processes and, consequently, the time associated with them, it is necessary to take into account the environment and congestion to which they are subjected. Localization, on the shop floor and in real time, is an important requirement to optimize the AMRs' trajectory management, thus avoiding livelocks and deadlocks during their movements in partnership with manual forklift operators and logistic trains. Threeof the most commonly used localization techniques in indoor environments (time of flight, angle of arrival, and time difference of arrival), as well as two of the most commonly used indoor localization methods in the industry (ultra-wideband, and ultrasound), are presented and compared in this paper. Furthermore, it identifies and compares three industrial indoor localization solutions: Qorvo, Eliko Kio, and Marvelmind, implemented in an industrial mobile platform, which is the main contribution of this paper. These solutions can be applied to both AMRs and other mobile platforms, such as forklifts and logistic trains. In terms of results, the Marvelmind system, which uses an ultrasound method, was the best solution.

OPTILOD: Optimal Beacon Placement for High-Accuracy Indoor Localization of Drones.

For many applications, drones are required to operate entirely or partially autonomously. In order to fly completely or partially on their own, drones need to access location services for navigation commands. While using the Global Positioning System (GPS) is an obvious choice, GPS is not always available, can be spoofed or jammed, and is highly error-prone for indoor and underground environments. The ranging method using beacons is one of the most popular methods for localization, especially for indoor environments. In general, the localization error in this class is due to two factors: the ranging error, and the error induced by the relative geometry between the beacons and the target object to be localized. This paper proposes OPTILOD (Optimal Beacon Placement for High-Accuracy Indoor Localization of Drones), an optimization algorithm for the optimal placement of beacons deployed in three-dimensional indoor environments. OPTILOD leverages advances in evolutionary algorithms to compute the minimum number of beacons and their optimal placement, thereby minimizing the localization error. These problems belong to the Mixed Integer Programming (MIP) class and are both considered NP-hard. Despite this, OPTILOD can provide multiple optimal beacon configurations that minimize the localization error and the number of deployed beacons concurrently and efficiently.

Attention Mechanism and LSTM Network for Fingerprint-Based Indoor Location System.

The demand for precise indoor localization services is steadily increasing. Among various methods, fingerprint-based indoor localization has become a popular choice due to its exceptional accuracy, cost-effectiveness, and ease of implementation. However, its performance degrades significantly as a result of multipath signal attenuation and environmental changes. In this paper, we propose an indoor localization method based on fingerprints using self-attention and long short-term memory (LSTM). By integrating a self-attention mechanism and LSTM network, the proposed method exhibits outstanding positioning accuracy and robustness in diverse experimental environments. The performance of the proposed method is evaluated under two different experimental scenarios, which involve 2D and 3D moving trajectories, respectively. The experimental results demonstrate that our approach achieves an average localization error of 1.76 m and 2.83 m in the respective scenarios, outperforming the existing state-of-the-art methods by 42.67% and 31.64%.

Bluetooth dataset for proximity detection in indoor environments collected with smartphones.

This paper describes a data collection experiment and the resulting dataset based on Bluetooth beacon messages collected in an indoor museum. The goal of this dataset is to study algorithms and techniques for proximity detection between people and points of interest (POI). To this purpose, we release the data we collected during 32 museum's visits, in which we vary the adopted smartphones and the visiting paths. The smartphone is used to collect Bluetooth beacons emitted by Bluetooth tags positioned nearby each POI. The visiting layout defines the order of visit of 10 artworks. The combination of different smartphones, the visiting paths and features of the indoor museum allow experiencing with realistic environmental conditions. The dataset comprises RSS (Received Signal Strength) values, timestamp and artwork identifiers, as long as a detailed ground truth, reporting the starting and ending time of each artwork's visit. The dataset is addressed to researchers and industrial players interested in further investigating how to automatically detect the location or the proximity between people and specific points of interest, by exploiting commercial technologies available with smartphone. The dataset is designed to speed up the prototyping process, by releasing an accurate ground truth annotation and details concerning the adopted hardware.

A Self-Localization Algorithm for Mobile Targets in Indoor Wireless Sensor Networks Using Wake-Up Media Access Control Protocol.

Indoor localization of a mobile target represents a prominent application within wireless sensor network (WSN), showcasing significant values and scientific interest. Interference, obstacles, and energy consumption are critical challenges for indoor applications and battery replacements. A proposed tracking system deals with several factors such as latency, energy consumption, and accuracy presenting an innovative solution for the mobile localization application. In this paper, a novel algorithm introduces a self-localization algorithm for mobile targets using the wake-up media access control (MAC) protocol. The developed tracking application is based on the trilateration technique with received signal strength indication (RSSI) measurements. Simulations are implemented in the objective modular network testbed in C++ (OMNeT++) discrete event simulator using the C++ programming language, and the RSSI values introduced are based on real indoor measurements. In addition, a determination approach for finding the optimal parameters of RSSI is assigned to implement for the simulation parameters. Simulation results show a significant reduction in power consumption and exceptional accuracy, with an average error of 1.91 m in 90% of cases. This method allows the optimization of overall energy consumption, which consumes only 2.69% during the localization of 100 different positions.

Multi-Dimensional Wi-Fi Received Signal Strength Indicator Data Augmentation Based on Multi-Output Gaussian Process for Large-Scale Indoor Localization.

Location fingerprinting using Received Signal Strength Indicators (RSSIs) has become a popular technique for indoor localization due to its use of existing Wi-Fi infrastructure and Wi-Fi-enabled devices. Artificial intelligence/machine learning techniques such as Deep Neural Networks (DNNs) have been adopted to make location fingerprinting more accurate and reliable for large-scale indoor localization applications. However, the success of DNNs for indoor localization depends on the availability of a large amount of pre-processed and labeled data for training, the collection of which could be time-consuming in large-scale indoor environments and even challenging during a pandemic situation like COVID-19. To address these issues in data collection, we investigate multi-dimensional RSSI data augmentation based on the Multi-Output Gaussian Process (MOGP), which, unlike the Single-Output Gaussian Process (SOGP), can exploit the correlation among the RSSIs from multiple access points in a single floor, neighboring floors, or a single building by collectively processing them. The feasibility of MOGP-based multi-dimensional RSSI data augmentation is demonstrated through experiments using the hierarchical indoor localization model based on a Recurrent Neural Network (RNN)-i.e., one of the state-of-the-art multi-building and multi-floor localization models-and the publicly available UJIIndoorLoc multi-building and multi-floor indoor localization database. The RNN model trained with the UJIIndoorLoc database augmented with the augmentation mode of "by a single building", where an MOGP model is fitted based on the entire RSSI data of a building, outperforms the other two augmentation modes and results in the three-dimensional localization error of 8.42 m.

Automatic Tracking Based on Weighted Fusion Back Propagation in UWB for IoT Devices.

The global population is progressively entering an aging phase, with population aging likely to emerge as one of the most-significant social trends of the 21st Century, impacting nearly all societal domains. Addressing the challenge of assisting vulnerable groups such as the elderly and disabled in carrying or transporting objects has become a critical issue in this field. We developed a mobile Internet of Things (IoT) device leveraging Ultra-Wideband (UWB) technology in this context. This research directly benefits vulnerable groups, including the elderly, disabled individuals, pregnant women, and children. Additionally, it provides valuable references for decision-makers, engineers, and researchers to address real-world challenges. The focus of this research is on implementing UWB technology for precise mobile IoT device localization and following, while integrating an autonomous following system, a robotic arm system, an ultrasonic obstacle-avoidance system, and an automatic leveling control system into a comprehensive experimental platform. To counteract the potential UWB signal fluctuations and high noise interference in complex environments, we propose a hybrid filtering-weighted fusion back propagation (HFWF-BP) neural network localization algorithm. This algorithm combines the characteristics of Gaussian, median, and mean filtering, utilizing a weighted fusion back propagation (WF-BP) neural network, and, ultimately, employs the Chan algorithm to achieve optimal estimation values. Through deployment and experimentation on the device, the proposed algorithm's data preprocessing effectively eliminates errors under multi-factor interference, significantly enhancing the precision and anti-interference capabilities of the localization and following processes.

Real-Time Three-Dimensional Pedestrian Localization System Using Smartphones.

Robust and accurate three-dimensional localization is essential for personal navigation, emergency rescue, and worker monitoring in indoor environments. For localization technology to be employed in various applications, it is necessary to reduce infrastructure dependence and limit the maximum error bound. This study aims to accurately estimate the location of various people using smartphones in a building with a cloud platform-based localization system. The proposed technology is modularized in a hierarchical structure to sequentially estimate the floor and location. This system comprises four localization modules: course level detection, fine level detection (FLD), fine location tracking (FLT), and level change detection (LCD). Each module operates organically according to the current user status. The position estimation range is defined as a total of three phases, and an appropriate location estimation module suitable for the corresponding phase operates to estimate the user's location gradually and precisely. When the user's floor is determined by an FLD, the two-dimensional position of the user is estimated by an FLT module that tracks the user's position by comparing the received signal strength indicator vector sequence and radio map. Also, LCD recognizes the user's floor change and converts the user's phase. To verify the proposed technology, various experiments were conducted in a six-story building, and an average accuracy of less than 2 m was obtained.

BLE-Based Indoor Localization: Analysis of Some Solutions for Performance Improvement.

This paper addresses indoor localization using an anchor-based system based on Bluetooth Low Energy (BLE) 5.0 technology, adopting the Received Signal Strength Indicator (RSSI) for the distance estimation. Different solutions have been proposed in the scientific literature to improve the performance of this localization technology, but a detailed performance comparison of these solutions is still missing. The aim of this work is to make an experimental analysis combining different solutions for the performance improvement of BLE-based indoor localization, identifying the most effective one. The considered solutions involve different RSSI signals' conditioning, the use of anchor-tag distance estimation techniques, as well as approaches for estimating the unknown tag position. An experimental campaign was executed in a complex indoor environment, characterized by the continuous presence in the movement of working staff and numerous obstacles. The exploitation of multichannel transmission using RSSI signal aggregation techniques showed the greater performance improvement of the localization system, reducing the positioning error (from 1.5 m to about 1 m). The other examined solutions have shown a lesser impact in the performance improvement with a decrease or an increase in the positioning errors, depending on the considered combination of the adopted solutions.

Relabeling for Indoor Localization Using Stationary Beacons in Nursing Care Facilities.

In this study, we propose an augmentation method for machine learning based on relabeling data in caregiving and nursing staff indoor localization with Bluetooth Low Energy (BLE) technology. Indoor localization is used to monitor staff-to-patient assistance in caregiving and to gain insights into workload management. However, improving accuracy is challenging when there is a limited amount of data available for training. In this paper, we propose a data augmentation method to reuse the Received Signal Strength (RSS) from different beacons by relabeling to the locations with less samples, resolving data imbalance. Standard deviation and Kullback-Leibler divergence between minority and majority classes are used to measure signal pattern to find matching beacons to relabel. By matching beacons between classes, two variations of relabeling are implemented, specifically full and partial matching. The performance is evaluated using the real-world dataset we collected for five days in a nursing care facility installed with 25 BLE beacons. A Random Forest model is utilized for location recognition, and performance is compared using the weighted F1-score to account for class imbalance. By increasing the beacon data with our proposed relabeling method for data augmentation, we achieve a higher minority class F1-score compared to augmentation with Random Sampling, Synthetic Minority Oversampling Technique (SMOTE) and Adaptive Synthetic Sampling (ADASYN). Our proposed method utilizes collected beacon data by leveraging majority class samples. Full matching demonstrated a 6 to 8% improvement from the original baseline overall weighted F1-score.

Transfer Learning for Indoor Localization Algorithm Based on Deep Domain Adaptation.

In application, training data and test data collected via indoor positioning algorithms usually do not come from the same ideal conditions. Changes in various environmental conditions and signal drift can cause different probability distributions between the data sets. Existing positioning algorithms cannot guarantee stable accuracy when facing these issues, resulting in dramatic reduction and the infeasibility of the positioning accuracy of indoor location algorithms. Considering these restrictions, domain adaptation technology in transfer learning has proven to be a promising solution in past research in terms of solving the inconsistent probability distribution problems. However, most localization algorithms based on transfer learning do not perform well because they only learn a shallow representation feature, which can only slightly reduce the domain discrepancy. Based on the deep network and its strong feature extraction ability, it can learn more transferable features for domain adaptation and achieve better domain adaptation effects. A Deep Joint Mean Distribution Adaptation Network (DJMDAN) is proposed to align the global domain and relevant subdomain distributions of activations in multiple domain-specific layers across domains to achieve domain adaptation. The test results demonstrate that the performance of the proposed method outperforms the comparison algorithm in indoor positioning applications.

Graph Trilateration for Indoor Localization in Sparsely Distributed Edge Computing Devices in Complex Environments Using Bluetooth Technology.

Spatial navigation patterns in indoor space usage can reveal important cues about the cognitive health of participants. In this work, we present a low-cost, scalable, open-source edge computing system using Bluetooth low energy (BLE) beacons for tracking indoor movements in a large, 1700 m2 facility used to carry out therapeutic activities for participants with mild cognitive impairment (MCI). The facility is instrumented with 39 edge computing systems, along with an on-premise fog server. The participants carry a BLE beacon, in which BLE signals are received and analyzed by the edge computing systems. Edge computing systems are sparsely distributed in the wide, complex indoor space, challenging the standard trilateration technique for localizing subjects, which assumes a dense installation of BLE beacons. We propose a graph trilateration approach that considers the temporal density of hits from the BLE beacon to surrounding edge devices to handle the inconsistent coverage of edge devices. This proposed method helps us tackle the varying signal strength, which leads to intermittent detection of beacons. The proposed method can pinpoint the positions of multiple participants with an average error of 4.4 m and over 85% accuracy in region-level localization across the entire study area. Our experimental results, evaluated in a clinical environment, suggest that an ordinary medical facility can be transformed into a smart space that enables automatic assessment of individuals' movements, which may reflect health status or response to treatment.