Distributed Recursive Gaussian Processes for RSS Map Applied to Target Tracking

We propose a distributed recursive Gaussian process (drGP) regression framework for building received-signal-strength (RSS) map. The proposed framework adopts independent mobile devices in prescribed local areas to construct local RSS maps through recursive computation of the posterior distribution of the RSS on a fixed set of grids as training data gradually become available. The training input positions can be either precise or subject to errors of known distribution. All the local RSS maps are then fused to give a global map in the second step. The proposed framework is of significantly reduced computational complexity and scalable to big data generated from large-scale sensor networks. We further demonstrate its use in both static fingerprinting and mobile target tracking. The experimental results show that with our distributed framework satisfactory positioning accuracy can be achieved with much less complexity and storage than the standard framework.