We propose an approach for fingerprinting-based positioning which reduces the data requirements and computational complexity of the online positioning stage. It is based on a segmentation of the entire region of interest into subregions, identification of candidate subregions during the online-stage, and position estimation using a preselected subset of relevant features. The subregion selection uses a modified Jaccard index which quantifies the similarity between the features observed by the user and those available within the reference fingerprint map. The adaptive feature selection is achieved using an adaptive forward-backward greedy search which determines a subset of features for each subregion, relevant with respect to a given fingerprinting-based positioning method. In an empirical study using signals of opportunity for fingerprinting the proposed subregion and feature selection reduce the processing time during the online-stage by a factor of about 10 while the positioning accuracy does not deteriorate significantly. In fact, in one of the two study cases the 90 th percentile of the circular error increased by 7.5% while in the other study case we even found a reduction of the corresponding circular error by 30%.
KEYWORDSfingerprinting-based indoor positioning, adaptive forward-backward greedy algorithm, feature selection, modified Jaccard index, subregion selection, signals of opportunity. Torres-Sospedra et al. 2015;Xie et al. 2016), or RSS of cellular towers (Driusso et al. 2016). Such signals are location dependent features, many of which can easily be measured using a variety of mobile devices (e.g., smart phones or tablets). FIPSs are therefore also called feature-based indoor positioning systems (Kasprzak et al. 2013). The attainable quality of the position estimation using FIPS mainly depends on the spatial gradient of the features and on their stability or predictability over time (Niedermayr et al. 2014).Key challenges of FIPS, especially the ones using RSS readings from WLAN APs, are discussed e.g., in (Kushki et al. 2007) and more recently in (He and Chan 2016;Yassin et al. 2017). The former publication focuses on four challenges of FIPS utilizing vectors of RSS from WLAN AP as features. In particular, the paper addresses i) the generation of a fingerprint database to provide a reference fingerprint map (RFM) for positioning, ii) pre-processing of fingerprints for reducing computational complexity and enhancing accuracy, iii) selection of APs for positioning, and iv) estimation of the distance between a fingerprint measured by the user and the fingerprints represented within in the reference database. Extensions to large indoor regions and handling of variations of observable features caused by the changes of indoor environments or signal sources of the features (e.g., replacement of broken APs) are addressed in (He and Chan 2016).Regarding generation of the RFM, various approaches have been proposed (He and Chan 2016). Initially, the features were mapped by dedicated surveying measurements (...