Comparison of WiFi Map Construction Methods for WiFi POMDP Navigation Systems
نویسندگان
چکیده
The framework of this paper is the robotics navigation inside buildings using WiFi signal strength measure. In most cases this navigation is achieved using a Partially Observable Markov Decission Process (POMDP). In the localization phase of this process the WiFi signal strength is used as observation. The localization system works in two stages: map construction and localization stage. In this paper we compare three different methods for obtaining the WiFi map in the construction stage. The methods have been tested in a real environment using two commercial robotic platforms. Some experimental results and the conclusions are presented.
منابع مشابه
Indoor localization method comparison: Fingerprinting and Trilateration algorithm
Enhanced Positioning Systems (EPS) are able to supplement Global Positioning Systems (GPS) in indoor environments where GPS cannot work because of disrupted or weak signals. Most EPS are Wifi-based because Wifi is a common technology available in many indoor environments and is deployed in cost effective manner. Fingerprinting and Trilateration are the two general methods used for calculating p...
متن کاملWiFi Field Monitoring for E-Pollution Detection
The paper presents an outline of the development of WiFi field monitoring maps using the Internet-of-Things (IoT) technology. The negative impacts of signals generated by the WiFi access points on health and measurement metrics are discussed. The experimental system for collecting WiFi signal data is presented. Finally, the construction of WiFi signal strength heatmap is discussed and some prel...
متن کاملEnhanced WiFi localization system based on Soft Computing techniques to deal with small-scale variations in wireless sensors
The framework of this paper is robot localization inside buildings by means of wireless localization systems. Such kind of systems make use of the Wireless Fidelity (WiFi) signal strength sensors which are becoming more and more useful in the localization stage of several robotic platforms. Robot localization is usually made up of two phases: training and estimation stages. In the former, WiFi ...
متن کاملAdvanced Integration of WiFi and Inertial Navigation Systems for Indoor Mobile Positioning
This paper presents an aided dead-reckoning navigation structure and signal processing algorithms for self localization of an autonomous mobile device by fusing pedestrian dead reckoning and WiFi signal strength measurements. WiFi and inertial navigation systems (INS) are used for positioning and attitude determination in a wide range of applications. Over the last few years, a number of low-co...
متن کاملWeighted Fingerprinting Localization based on a Multichannel WiFi Map
WiFi localization based on fingerprinting method became popular during last decade. However, collecting information to construct a WiFi signal map is challenging due to high cost. We assume that it is possible to gather such information with cheap cost using crowd sourcing with smartphones. Each user’s current location is estimated by either GPS, WiFi, radio cell signals or manually set by the ...
متن کامل