Positioning In Indoor Environments Based On Ins And Rf Sensor Fusion

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Positioning in Indoor Environments Based on INS and RF Sensor Fusion

Author : Ehad Akeila
Publisher :
ISBN 13 :
Total Pages : 189 pages
Book Rating : 4.:/5 (747 download)

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Book Synopsis Positioning in Indoor Environments Based on INS and RF Sensor Fusion by : Ehad Akeila

Download or read book Positioning in Indoor Environments Based on INS and RF Sensor Fusion written by Ehad Akeila and published by . This book was released on 2011 with total page 189 pages. Available in PDF, EPUB and Kindle. Book excerpt: The past few years have witnessed an increasing demand for positioning applications in indoor environments. Several technologies have been employed to develop systems which can efficiently perform the positioning task in such environments. However, most of the available systems are either large and expensive or insufficiently accurate to be reliable for some of the critical applications. This thesis describes the development of an indoor positioning system which can provide portability, minimum cost and sufficient accuracy. Two of low cost sensor technologies have been utilised in this research; Inertial Navigation Systems (INS) and a positioning system based on the Bluetooth technology. The development of final system has been targeted by first optimizing the performance of each individual system using a series of proposed methods. Fusion of the measurements from the optimised systems in then performed using suitable fusion filters, such as Kalman and particle filter. Considering the INS based applications, a gravity compensation method is used for filtering the gravitational changes which corrupt the outputs of the accelerometers. A different method is then applied to automatically reset the INS errors found when obtaining the distance travelled by moving objects based on the measured accelerations. In enhancing the performance of the Bluetooth positioning system, a method has been developed to dynamically calibrate the radio frequency (RF) signal parameters to adapt for the environmental changes. In each of the developed methods, necessary verifications and testing have been done through simulations as well as using experimental setup designed for each of the sensor technologies. Final results show that the INS errors have been significantly reduced using the proposed resetting method which also extended the operational time from few seconds to several minutes. The performance of the Bluetooth based system has achieved positioning error of less than 1.5 metres using the proposed dynamic calibration method. Testing results of the fusion of the two optimised systems showed that the positioning error of the final system can be reduced to less than 1 metre when using either of the fusion filters. Furthermore, the fusion of the INS have demonstrated a positive impact in lowering the number of the Bluetooth reference nodes needed for achieving an adequate indoor positioning accuracy, hence cutting the overall cost when deploying the final system in real indoor applications.

Indoor Pedestrian Positioning and Tracking Using INS and RF Sensor Fusion

Author : Mohd Nazrin Muhammad
Publisher :
ISBN 13 :
Total Pages : 210 pages
Book Rating : 4.:/5 (16 download)

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Book Synopsis Indoor Pedestrian Positioning and Tracking Using INS and RF Sensor Fusion by : Mohd Nazrin Muhammad

Download or read book Indoor Pedestrian Positioning and Tracking Using INS and RF Sensor Fusion written by Mohd Nazrin Muhammad and published by . This book was released on 2018 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this digital era, electronic devices are developing into more sophisticated equipment to perceive the local and global information such as fitness and activity trackers as well as for navigational purposes. The spatial awareness is fast becoming the key element in improving human life and navigation solutions are growing in demands. While accurate outdoor navigation has been widely available through Global Positioning System (GPS), the GPS does not work in indoor environments due to weak received signal and multipath reflection. In this regard, a number of indoor positioning and tracking solutions have been proposed, e.g. inertial and radio frequency (RF) based navigation. Low-cost inertial sensors are economically attractive and miniature in size, thereby become a popular choice in indoor positioning solutions. However, such devices are prone to errors that result in a large position drift. For accurate RF based navigation, the techniques rely on expensive high-precision time hardware and complex deployment of the wireless transceivers. This thesis describes the development of indoor pedestrian positioning and tracking using Inertial Navigation System (INS) and RF sensor fusion. The proposed system fuses the positioning and tracking information from INS and RF to produce better positioning and tracking accuracies. This research tackles the existing issues on low-cost INS, position and heading drifts, by proposing two novel techniques. First, we propose a better stance phase detector that directly improve the position drift. Secondly, we develop an efficient turn detector that is threshold-less, thus robust to different group of pedestrians and operating conditions. The proposed turn detector provides information of turns made by pedestrians that greatly assists in correcting the heading drift. The introduction of both techniques in the Kalman-based navigation framework produce a better positioning and tracking performance compared to the state of the art. The unconvinced performance of INS based navigation in the long run or challenging indoor arrangements, resulted from accumulated drift over time and insufficient dynamic range of the inertial sensors, are discussed in literature. This research proposes the fusion between INS and RF based navigation technology known as Device Free Location (DFL). The DFL provides absolute positioning that benefits in resetting the drifted positioning of INS. The DFL network uses low-cost IEEE 802.15.4 wireless transceivers and deploys in square-shape arrangement.

Indoor Positioning System for Smart Devices

Author : Yuan Yang (Ph. D. in civil engineering)
Publisher :
ISBN 13 :
Total Pages : 130 pages
Book Rating : 4.:/5 (131 download)

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Book Synopsis Indoor Positioning System for Smart Devices by : Yuan Yang (Ph. D. in civil engineering)

Download or read book Indoor Positioning System for Smart Devices written by Yuan Yang (Ph. D. in civil engineering) and published by . This book was released on 2021 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the proliferation of personal smart devices in the last decade, mobile applications of indoor location-based services (ILBS) have been widely used in public buildings, such as hospitals, malls, school campuses and museums for patient monitoring, security management, asset tracking and indoor navigation, etc. As the core component of ILBS, indoor positioning systems (IPS) have gained increased attention. Since global navigation satellite systems (GNSS) are generally denied in indoor environments, as an alternative solution, many Radio Frequency (RF) based approaches of IPS have been proposed. However, these solutions either need to work in a controlled environment with customized RF infrastructure or could only offer low accuracy localization at the meter level. This work focuses on developing an innovative framework of IPS which is able to perform in any indoor environment without extra infrastructure and offers a robust and accurate localization estimation for smart device users. To achieve this goal, this work initially introduces a mean peak method that is subsequently combined with classification-based Wi-Fi fingerprint positioning (WF) techniques to deal with the challenges of positioning in a weak RSS environment. As the next step, the database updating problem for WF, including an innovative Bayes-inference-based sensor fusion framework which integrates WF and visual fingerprint positioning (VF) is addressed. The method provides both a location estimation and a heading direction estimation. In order to further improve the accuracy of the localization, a state-of-the-art visual localization algorithm, InLoc, is introduced in combination with WF for constructing a new IPS. Additionally, with the help of WF, the computational cost of InLoc is reduced compared to the original one. Moreover, to improve the robustness of the system, a particle filter and map updating function are introduced to optimize localization results and address the RSS variance problem. In summary, the proposed methodologies of this work define a framework for constructing an innovative IPS, a new path to build indoor positioning systems which are robust, easy to use and easy to deploy.

Indoor Positioning and Navigation

Author : Simon Tomazič
Publisher : Mdpi AG
ISBN 13 : 9783036519135
Total Pages : 396 pages
Book Rating : 4.5/5 (191 download)

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Book Synopsis Indoor Positioning and Navigation by : Simon Tomazič

Download or read book Indoor Positioning and Navigation written by Simon Tomazič and published by Mdpi AG. This book was released on 2021-11-12 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, rapid development in robotics, mobile, and communication technologies has encouraged many studies in the field of localization and navigation in indoor environments. An accurate localization system that can operate in an indoor environment has considerable practical value, because it can be built into autonomous mobile systems or a personal navigation system on a smartphone for guiding people through airports, shopping malls, museums and other public institutions, etc. Such a system would be particularly useful for blind people. Modern smartphones are equipped with numerous sensors (such as inertial sensors, cameras, and barometers) and communication modules (such as WiFi, Bluetooth, NFC, LTE/5G, and UWB capabilities), which enable the implementation of various localization algorithms, namely, visual localization, inertial navigation system, and radio localization. For the mapping of indoor environments and localization of autonomous mobile sysems, LIDAR sensors are also frequently used in addition to smartphone sensors. Visual localization and inertial navigation systems are sensitive to external disturbances; therefore, sensor fusion approaches can be used for the implementation of robust localization algorithms. These have to be optimized in order to be computationally efficient, which is essential for realtime processing and low energy consumption on a smartphone or robot.

Recent Advances in Indoor Localization Systems and Technologies

Author : Gyula Simon
Publisher : MDPI
ISBN 13 : 303651483X
Total Pages : 502 pages
Book Rating : 4.0/5 (365 download)

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Book Synopsis Recent Advances in Indoor Localization Systems and Technologies by : Gyula Simon

Download or read book Recent Advances in Indoor Localization Systems and Technologies written by Gyula Simon and published by MDPI. This book was released on 2021-08-30 with total page 502 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods.

Visible Light Communication Based Indoor Localization

Author : Mohsen Kavehrad
Publisher : CRC Press
ISBN 13 : 1000712230
Total Pages : 169 pages
Book Rating : 4.0/5 (7 download)

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Book Synopsis Visible Light Communication Based Indoor Localization by : Mohsen Kavehrad

Download or read book Visible Light Communication Based Indoor Localization written by Mohsen Kavehrad and published by CRC Press. This book was released on 2019-11-18 with total page 169 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book demonstrates the research on VLC based indoor localization in four aspects: first, it constructs the concept and model of the system; second, positioning algorithms, as the main issue in indoor localization, are detailed; third, many approaches are proposed to further improve the positioning performance; fourth, challenges will be detailed. Impulse response with multipath reflections are analyzed. Orthogonal frequency division multiplexing (OFDM) is proposed, and positioning performance is largely improved compared to On-off-keying (OOK) modulation. The readers will get a broad view of VLC based indoor localization from the background to the future challenges.

Sensor Fusion Methods for Indoor Navigation Using UWB Radio Aided INS/DR

Author : José Borràs Sillero
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (112 download)

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Book Synopsis Sensor Fusion Methods for Indoor Navigation Using UWB Radio Aided INS/DR by : José Borràs Sillero

Download or read book Sensor Fusion Methods for Indoor Navigation Using UWB Radio Aided INS/DR written by José Borràs Sillero and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: [ANGLÈS] Some applications such as industrial automation, cargo handling, warehouse managing, monitoring of autonomous robot or personnel localization, require reliable indoor positioning. In particular, the requirement is to accurately localize a mobile wireless node in real-time. In outdoor scenarios, Global Navigation Satellite Systems (GNSSs) are commonly used for positioning. Nevertheless, they present notable shortcomings for being used in indoor applications. The principal disadvantages are the low accuracy achieved and the attenuation and reflections introduced by buildings and other structures, which make impossible their use in most cases. The fixed and smaller operational area of an indoor positioning application in comparison with the area of an outdoor application makes it possible to install a radio positioning infrastructure. Concretely, the Ultra Wide Band (UWB) positioning system considered in this thesis consists of nodes installed in fixed and known positions (slaves) and a mobile node of unknown position (master) which is the one to be localized. The operation of the system is based on calculating the distance from the master to the slaves by measuring the Round-Trip-Time of a UWB pulse. In this way an estimate of the position can be obtained, with the advantage of having bounded errors, but, in contrast, the estimations have a low dynamic range and other navigation information cannot be measured. The master has some sensors attached, an Inertial Measurement Unit (IMU) and a Dead-Reckoning (DR) system. By propagating the navigation equations, estimates of the position and other navigational states can be obtained, but with the disadvantage of having errors that grow with time. The solution of the problems related to the individual location systems is using information fusion algorithms. Such algorithms, by means of integrating different sources of data, in this case the UWB range measurements and the IMU and DR measurements, create a positioning system which combines the benefits of the individual systems. In this project the aim is to develop, implement and evaluate sensor fusion algorithms. In particular, the developed algorithms are based on the Extended Kalman Filter and the Particle Filter. Furthermore, they have been adapted to different dynamic models, in order to find the algorithms which fit better with the motion of a mobile node. The developed algorithms has been tested with simulated trajectories using Matlab, and with real experimental datasets acquired by a mobile robot. The results have shown the benefits of the information fusion, since the accuracies obtained in the estimations have outperformed the accuracies obtained with the individual systems. Also in the most unfavorable cases, when one of the sources has high errors in the measurements, the algorithms have been able to discard the useless information and estimate using only the useful measurements, proving the robustness of the system.

Collaborative and Efficient Indoor Localization for Mobile Systems

Author : Paul Daniel Martin
Publisher :
ISBN 13 :
Total Pages : 148 pages
Book Rating : 4.:/5 (17 download)

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Book Synopsis Collaborative and Efficient Indoor Localization for Mobile Systems by : Paul Daniel Martin

Download or read book Collaborative and Efficient Indoor Localization for Mobile Systems written by Paul Daniel Martin and published by . This book was released on 2016 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: The introduction of GPS-enabled mobile devices created in its wake a torrent of location-based applications and services. These devices are increasingly equipped with rich sensors for position and orientation, hearing, and vision, and by using their radios they can sense proximity to nearby people and devices. Considerable research over the past decades has demonstrated that these rich sensing platforms can also be used to provide reasonable location estimates in both indoor and outdoor environments. Research into the growing field of mobile (and indoor) localization has traditionally been concerned with providing scalable, cost-effective solutions for improving position estimation accuracy. Towards this end, researchers have explored RF-based ranging techniques, sensor fingerprinting methods, vision- and optics-based approaches, and inertial dead reckoning as potential mobile positioning technologies. Each of these methods presents a unique set of challenges---e.g., nonlinear and multipath RF propagation, training and infrastructure deployments, and sensor drift. Accompanying each of these challenges are overheads in the form of energy expenditure, increased computation, or increased wireless channel congestion. Reducing these overheads is a necessary step towards enabling indoor localization techniques to permeate the mobile market. This work focuses on methods for reducing the various overheads associated with localization by fusing position estimates with various low power sensing modalities, such as pressure, odometry, and even time. To do so, we distill localization routines into a spatial and temporal sequence of estimates and corresponding uncertainties. These estimates may be absolute, as is the case with GPS or fixed anchor nodes, or relative as with odometry and range. Each measurement is then treated as an edge in a graph whose nodes represent position estimates across time, allowing for joint optimization of multiple device locations across multiple sensor measurements and providing a method for easily integrating additional constraints into pre-existing positioning techniques. We divide this work into three thrusts as follows: (i) We present an architecture and formalization of collaborative indoor localization techniques as a single cohesive estimation routine. We leverage graph realization techniques as well as sensor fusion results from the sensor network literature to jointly optimize otherwise disjoint measurements, fusing absolute and relative measurements in a single optimizing routine; (ii) We explore wideband RF time-of-flight measurements as a method of providing accurate non-line-of-sight distance measurements and channel estimations between smartphones and other mobile devices, integrating these measurements to provide accurate, real-time error corrections for mobile positioning; and (iii) We construct a generic, open-source testbed upon which to analyze the algorithms and measurements employed, facilitating easier comparison and development of state-of-the-art positioning techniques and reducing the cost of obtaining measurements with corresponding ground truth observations.

Location Based Services and TeleCartography II

Author : Georg Gartner
Publisher : Springer Science & Business Media
ISBN 13 : 3540873937
Total Pages : 471 pages
Book Rating : 4.5/5 (48 download)

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Book Synopsis Location Based Services and TeleCartography II by : Georg Gartner

Download or read book Location Based Services and TeleCartography II written by Georg Gartner and published by Springer Science & Business Media. This book was released on 2008-10-30 with total page 471 pages. Available in PDF, EPUB and Kindle. Book excerpt: 5th International Conference on Location Based Services and TeleCartography, 2008, Salzburg

Indoor Wayfinding and Navigation

Author : Hassan A. Karimi
Publisher : CRC Press
ISBN 13 : 1482230852
Total Pages : 262 pages
Book Rating : 4.4/5 (822 download)

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Book Synopsis Indoor Wayfinding and Navigation by : Hassan A. Karimi

Download or read book Indoor Wayfinding and Navigation written by Hassan A. Karimi and published by CRC Press. This book was released on 2015-03-25 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Due to the widespread use of navigation systems for wayfinding and navigation in the outdoors, researchers have devoted their efforts in recent years to designing navigation systems that can be used indoors. This book is a comprehensive guide to designing and building indoor wayfinding and navigation systems. It covers all types of feasible sensors (for example, Wi-Fi, A-GPS), discussing the level of accuracy, the types of map data needed, the data sources, and the techniques for providing routes and directions within structures.

Indoor Positioning Technologies

Author : Rainer Mautz
Publisher : Sudwestdeutscher Verlag Fur Hochschulschriften AG
ISBN 13 : 9783838135373
Total Pages : 152 pages
Book Rating : 4.1/5 (353 download)

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Book Synopsis Indoor Positioning Technologies by : Rainer Mautz

Download or read book Indoor Positioning Technologies written by Rainer Mautz and published by Sudwestdeutscher Verlag Fur Hochschulschriften AG. This book was released on 2012 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the age of automation the ability to navigate persons and devices in indoor environments has become increasingly important for a rising number of applications. However, we are still far away from achieving cheap provision of global indoor positioning with an accuracy of 1 meter or better. With the emergence of global satellite positioning systems, the performance of outdoor positioning has become excellent, but many mass market applications require seamless positioning capabilities in all environments. Therefore indoor positioning has become a focus of research and development during the past decade. This book categorizes all sighted indoor positioning approaches into 13 distinct technologies and describes the measuring principles of each. Individual approaches are characterized and key performance parameters are quantified.

Indoor Optical Positioning System

Author : Weizhi Zhang
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (894 download)

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Book Synopsis Indoor Optical Positioning System by : Weizhi Zhang

Download or read book Indoor Optical Positioning System written by Weizhi Zhang and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Indoor positioning has become an attractive research topic within the past two decades. However, no satisfying solution has been found with consideration of both accuracy and system complexity. Recently, research on visible light communications offers new opportunities on realizing accurate indoor positioning with relatively simple system configuration. This dissertation investigates several fundamental research topics of indoor positioning systems based on visible light communications (VLC) technology.First, we introduce a simulation method to generate optical wireless channel impulse response more efficiently and accurately, based on which a novel 2-D positioning algorithm is developed. Using basic framed slotted ALOHA (BFSA) protocol, it successfully addresses channel multi-access issue, removing synchronization requirement on the transmitters. The algorithm makes use of received signal strength (RSS) to calculate the ranges from receiver to light-emitting diode (LED) bulbs, after which trilateration is performed to obtain estimation of the receiver's location. Simulation results show that, with over 95% confidence, the target receiver can be located with an accuracy of 5.9 cm, assuming indirect sunlight exposure and proper installation of LED bulbs. The dissertation also explores one of the main digital signal processing techniques available: digital filters. Three filtering techniques are employed to improve the positioning accuracy: Kalman filter, sequential importance-resampling particle filter (SIR-PF) and Gaussian mixture sigma-point particle filter (GM-SPPF). Filtering techniques are used to form the trajectory of the receiver while rejecting wild values which are large deviations from correct measurements. Results show that filters help increase the positioning accuracy and Gaussian mixture sigma-point particle filter (GM-SPPF) outperforms other filters such as basic Kalman filter and particle filter (SIR-PF), at a reasonable computational cost. 3-D positioning algorithm is then proposed to keep track of the receiver's height. Simulation results show that the height of receiver can be estimated as accurately as within ten centimeters. Results also show that the estimation is more accurate when light distribution from LED bulbs involved are uniform.Finally, sensor fusion technology is adopted as a solution to blockage problem and an option to further improve the positioning accuracy.

Collaborative Indoor Localization Based on Sensor Fusion with Particle Filter

Author :
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (999 download)

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Book Synopsis Collaborative Indoor Localization Based on Sensor Fusion with Particle Filter by :

Download or read book Collaborative Indoor Localization Based on Sensor Fusion with Particle Filter written by and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Localization Algorithms and Strategies for Wireless Sensor Networks: Monitoring and Surveillance Techniques for Target Tracking

Author : Mao, Guoqiang
Publisher : IGI Global
ISBN 13 : 1605663972
Total Pages : 526 pages
Book Rating : 4.6/5 (56 download)

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Book Synopsis Localization Algorithms and Strategies for Wireless Sensor Networks: Monitoring and Surveillance Techniques for Target Tracking by : Mao, Guoqiang

Download or read book Localization Algorithms and Strategies for Wireless Sensor Networks: Monitoring and Surveillance Techniques for Target Tracking written by Mao, Guoqiang and published by IGI Global. This book was released on 2009-05-31 with total page 526 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wireless localization techniques are an area that has attracted interest from both industry and academia, with self-localization capability providing a highly desirable characteristic of wireless sensor networks. Localization Algorithms and Strategies for Wireless Sensor Networks encompasses the significant and fast growing area of wireless localization techniques. This book provides comprehensive and up-to-date coverage of topics and fundamental theories underpinning measurement techniques and localization algorithms. A useful compilation for academicians, researchers, and practitioners, this Premier Reference Source contains relevant references and the latest studies emerging out of the wireless sensor network field.

A Novel Approach to Improving Positioning Accuracy in Indoor Positioning by Dead Reckoning Utilizing Map Information and Sensor Fusion

Download A Novel Approach to Improving Positioning Accuracy in Indoor Positioning by Dead Reckoning Utilizing Map Information and Sensor Fusion PDF Online Free

Author : Peter Holmgaard Bernth
Publisher :
ISBN 13 :
Total Pages : 116 pages
Book Rating : 4.:/5 (763 download)

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Book Synopsis A Novel Approach to Improving Positioning Accuracy in Indoor Positioning by Dead Reckoning Utilizing Map Information and Sensor Fusion by : Peter Holmgaard Bernth

Download or read book A Novel Approach to Improving Positioning Accuracy in Indoor Positioning by Dead Reckoning Utilizing Map Information and Sensor Fusion written by Peter Holmgaard Bernth and published by . This book was released on 2009 with total page 116 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Low-power Wearable Healthcare Sensors

Author : R. Simon Sherratt
Publisher : MDPI
ISBN 13 : 3039364790
Total Pages : 146 pages
Book Rating : 4.0/5 (393 download)

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Book Synopsis Low-power Wearable Healthcare Sensors by : R. Simon Sherratt

Download or read book Low-power Wearable Healthcare Sensors written by R. Simon Sherratt and published by MDPI. This book was released on 2020-12-29 with total page 146 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advances in technology have produced a range of on-body sensors and smartwatches that can be used to monitor a wearer’s health with the objective to keep the user healthy. However, the real potential of such devices not only lies in monitoring but also in interactive communication with expert-system-based cloud services to offer personalized and real-time healthcare advice that will enable the user to manage their health and, over time, to reduce expensive hospital admissions. To meet this goal, the research challenges for the next generation of wearable healthcare devices include the need to offer a wide range of sensing, computing, communication, and human–computer interaction methods, all within a tiny device with limited resources and electrical power. This Special Issue presents a collection of six papers on a wide range of research developments that highlight the specific challenges in creating the next generation of low-power wearable healthcare sensors.

A Probabilistic Framework for Multi-sensor Fusion Based Indoor Localization on Mobile Platform

Author :
Publisher :
ISBN 13 :
Total Pages : 214 pages
Book Rating : 4.:/5 (14 download)

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Book Synopsis A Probabilistic Framework for Multi-sensor Fusion Based Indoor Localization on Mobile Platform by :

Download or read book A Probabilistic Framework for Multi-sensor Fusion Based Indoor Localization on Mobile Platform written by and published by . This book was released on 2017 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nowadays, smart mobile devices integrate more and more sensors on board, such as motion sensors (accelerometer, gyroscope), wireless signal strength indicators (WiFi, Bluetooth), and visual sensors (LiDAR, camera). People have developed various indoor localization techniques based on these sensors. In this dissertation, a probabilistic framework for multi-sensor fusion based indoor localization system is developed and partially implemented on a mobile platform. The probabilistic fusion of multiple sensors is investigated in a hidden Markov model (HMM) framework for mobile device user localization. We propose a graph structure to store the model constructed by multiple sensors during offline training phase, and multimodal particle filter to seamlessly fuse the information during online tracking phase. The multi-sensor information for our data fusion and analysis includes WiFi received signal strength (RSS) collected from mobile device's received signal strength indicator (RSSI), motion signals gathered by built in motion sensors including accelerometer and gyroscope, and images captured by camera. Based on our algorithms, we performed simulations in MATLAB and analyzed the results. We further implemented the indoor localization system on the iOS platform. The experiments carried out in typical indoor environment have shown promising results of the proposed algorithm and system design.