Wi-Fi RTT Ranging Performance Characterization and Positioning System Design

The aim of this research is to implement a precise Wi-Fi indoor positioning system (IPS) or localization based upon the IEEE 802.11mc fine-timing measurement (FTM) scheme also known as round trip time (RTT) ranging technique, where refers sub-process that determines distance between transmitter and receiver. Our its algorithms were implemented using COTS (Commercial-Off-The-Shelf) smartphone access points. Experiments conducted in several real-life environments. This paper presents detailed RTT performance these devices different configurations characterizes systematic biases noise model improve accuracy. A novel three-step-positioning method proposed overcome issues no multiple intersect points trilateration due errors consists following: 1) bias determination removal; 2) clustering-based (CbT) supported by weighted concentric circle generation (WCCG), namely CbT & WCCG; 3) result trajectory optimization Kalman filter. As result, evaluation experiments gave position accuracy ±1.2 m 2D static ±1.3 for dynamic motion tracking. Also, our WCCG demonstrate good tolerance against errors. Moreover, computational cost methods are compared with least square (LS) recursive (RLS) standard deviation algorithm closest Cramer–Rao bound (CRB).