Kalman Filtering-Aided Hybrid Indoor Positioning System With Fingerprinting And Multilateration

Low-Cost Indoor Localization System Combining Multilateration and Kalman Filter

“…In order to improve the system accuracy some alternatives can be employed such as Probabilistics Methods (e.g., Kalman Filtering and Bayesian Filtering), Artificial Neural Network (ANN) and Machine Learning (e.g., Support Vector Machine and Particle Swarm Optimization). As example, an indoor localization simulation based on BLE using a hybrid approach that combines the Fingerprint (FP) and MLT techniques was proposed in [13]. An uniform motion is assumed and the lowest error achieved is 2.46 m when considering 5 APs in an environment of (60 × 40) m [13].…”

“…As example, an indoor localization simulation based on BLE using a hybrid approach that combines the Fingerprint (FP) and MLT techniques was proposed in [13]. An uniform motion is assumed and the lowest error achieved is 2.46 m when considering 5 APs in an environment of (60 × 40) m [13].…”

“…To mitigate the fast fading effect, the considered RSSI is an average of 1000 readings [10]. The distance between each AP and the target node is calculated through the log-normal propagation model as [13]:…”

“…where the N equations are represented via b = Ap, with p being the coordinate vector. As { dn } N n=1 is subject to errors because of the shadowing effect, a least-square estimate for p is obtained as pMLT = p = (A T A) −1 A T b [13]. The coordinates are the result of the minimization of N n=1 (d n − dn ) 2 .…”

Performance Evaluation of Multilateration and Fingerprinting Method in Indoor Positioning System

“…There are also several improvement methods for trilateration such as Multilateration and Heron Bilateration. Multilateration is a widespread technique used to estimate the user location based on its distance measurement [5] which is the same as Trilateration. The main differences in these methods are the number of the BLE that are used to estimate the user position are mostly more than 3 BLE, meanwhile in trilateration we only use 3 BLE to calculate the user position.…”