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This paper describes the design and realization of a Magnetic Indoor Positioning System. The system is entirely realized using off-the-shelf components and is based on inductive coupling between resonating coils. Both system-level architecture and realization details are described along with experimental results. The realized system exhibits a maximum positioning error of less than 10 cm in an indoor environment over a 3×3 m 2 area. Extensive experiments in larger areas, in non-line-of-sight conditions, and in unfavorable geometric configurations, show sub-meter accuracy, thus validating the robustness of the system with respect to other existing solutions.

This paper describes the design and the realization of a low frequency AC-magnetic-field-based indoor positioning system. The system operation is based on the principle of inductive coupling between wire loop antennas. Specifically, due to the characteristics of the AC artificially generated magnetic fields, the relation between the induced voltage and the distance is modeled with a linear behavior in a bi-logarithmic scale when a configuration with coplanar, thus equally oriented, antennas is used. In this case the distance between a transmitting antenna and a receiving one is estimated using measurements of the induced voltage in the latter. For a high operational range, the system makes use of resonant antennas tuned at the same nominal resonant frequency. The quality factors act as antenna gain increasing the amplitude of the induced voltage. The low operating frequency is the key factor for improving robustness against non-line-of-sight (NLOS) conditions and environment influences with respect to other existing solutions.The realized prototype, which is implemented using off-theshelf components, exhibits an average and maximum positioning error respectively lower than 0.3 m and 0.9 m in an indoor environment over a large area of 15 m × 12 m in NLOS conditions. Similar performance is obtained in an outdoor environment over an area of 30 m × 14 m. Furthermore, the system does not require any type of synchronization between the nodes and can accommodate an arbitrary number of users without additional infrastructure.

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