Dynamic Wireless Indoor Localization Incorporating With an Autonomous Mobile Robot Based on an Adaptive Signal Model Fingerprinting Approach

Indoor localization based on received signal strength (RSS) will result in a decreased precision after the environment changes. In this paper, we develop an adaptive wireless indoor localization system (ILS) for dynamic environments. The system consists of the following two components: an automated database updating process and a new fingerprinting algorithm called adaptive signal model fingerprinting (ASMF). In the ILS, a self-locating mobile robot is set up to continuously collect RSS measurement data within the localization space for autonomously updating the fingerprint database. ASMF is designed to reduce the time consumption and the amount of RSS data needed for updating the database. The fingerprint of the signal in ASMF is constructed by the position of the beacons and three signal models, which can be duly corrected based on the regression and optimization algorithm. Finally, we propose experiments for positioning targets in the static and dynamic environments and compare the results of the ASMF algorithm with traditional trilateration and k-nearest- neighbor fingerprinting algorithms. The experimental results demonstrate that the ASMF-based ILS provides much better performance in both static and dynamic environments; furthermore, the positioning accuracy can be actually maintained by the autonomous updated ASMF database.