Improving Indoor Positioning With Adaptive Noise Modeling

Indoor positioning is important for applications within Internet of Things, such as equipment tracking and indoor maps. Inexpensive Bluetooth-beacons have become common for such applications, where the distance is estimated using the Received Signal Strength. Large installations require substantial...

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Main Author: Jimmy Engstrom
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Online Access:https://ieeexplore.ieee.org/document/9296764/
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author Jimmy Engstrom
author_facet Jimmy Engstrom
author_sort Jimmy Engstrom
collection DOAJ
description Indoor positioning is important for applications within Internet of Things, such as equipment tracking and indoor maps. Inexpensive Bluetooth-beacons have become common for such applications, where the distance is estimated using the Received Signal Strength. Large installations require substantial efforts, either in determining the exact location of all beacons to facilitate lateration, or collecting signal strength data from a grid over all locations to facilitate fingerprinting. To reduce this initial setup cost, one may infer the positions using Simultaneous Location and Mapping. In this paper, we use a mobile phone equipped with an Inertial Measurement Unit, a Bluetooth receiver, and an Unscented Kalman Filter to infer beacon positions. Further, we apply adaptive noise modeling in the filter based on the estimated distance of the beacons, in contrast to using a fixed noise estimate which is the common approach. This gives us more granular control of how much impact each signal strength reading has on the position estimates. The adaptive model decreases the beacon positioning errors by 27% and the user positioning errors by 21%. The positioning accuracy is 0.3 m better compared to using known beacon positions with fixed noise, while the effort to setup and maintain the position of each beacon is also substantially reduced. Therefore, adaptive noise modeling of Received Signal Strength is a significant improvement over static noise modeling for indoor positioning.
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spelling doaj.art-6c1b4adeb1c54af3b10dea9ab9badd752022-12-21T23:44:48ZengIEEEIEEE Access2169-35362020-01-01822721322722110.1109/ACCESS.2020.30456159296764Improving Indoor Positioning With Adaptive Noise ModelingJimmy Engstrom0https://orcid.org/0000-0003-1858-9645Department of Computer Science and Media Technology, Malmö University, Malmö, SwedenIndoor positioning is important for applications within Internet of Things, such as equipment tracking and indoor maps. Inexpensive Bluetooth-beacons have become common for such applications, where the distance is estimated using the Received Signal Strength. Large installations require substantial efforts, either in determining the exact location of all beacons to facilitate lateration, or collecting signal strength data from a grid over all locations to facilitate fingerprinting. To reduce this initial setup cost, one may infer the positions using Simultaneous Location and Mapping. In this paper, we use a mobile phone equipped with an Inertial Measurement Unit, a Bluetooth receiver, and an Unscented Kalman Filter to infer beacon positions. Further, we apply adaptive noise modeling in the filter based on the estimated distance of the beacons, in contrast to using a fixed noise estimate which is the common approach. This gives us more granular control of how much impact each signal strength reading has on the position estimates. The adaptive model decreases the beacon positioning errors by 27% and the user positioning errors by 21%. The positioning accuracy is 0.3 m better compared to using known beacon positions with fixed noise, while the effort to setup and maintain the position of each beacon is also substantially reduced. Therefore, adaptive noise modeling of Received Signal Strength is a significant improvement over static noise modeling for indoor positioning.https://ieeexplore.ieee.org/document/9296764/Adaptive noiseBLEindoor locationindoor positioningunscented kalman filter
spellingShingle Jimmy Engstrom
Improving Indoor Positioning With Adaptive Noise Modeling
IEEE Access
Adaptive noise
BLE
indoor location
indoor positioning
unscented kalman filter
title Improving Indoor Positioning With Adaptive Noise Modeling
title_full Improving Indoor Positioning With Adaptive Noise Modeling
title_fullStr Improving Indoor Positioning With Adaptive Noise Modeling
title_full_unstemmed Improving Indoor Positioning With Adaptive Noise Modeling
title_short Improving Indoor Positioning With Adaptive Noise Modeling
title_sort improving indoor positioning with adaptive noise modeling
topic Adaptive noise
BLE
indoor location
indoor positioning
unscented kalman filter
url https://ieeexplore.ieee.org/document/9296764/
work_keys_str_mv AT jimmyengstrom improvingindoorpositioningwithadaptivenoisemodeling