Indoor Positioning in Car Parks by using Wi-Fi Round-Trip-Time to support Finished Vehicle Logistics on Port Terminals

To enhance the planning of finished vehicle logistics on port terminals, accurate localization of every car is needed. The outdoor positioning task is sufficiently covered by (D-)GPS. However, vehicles on port terminals are also parked in multi-story car parks where GPS is not available. Common indoor positioning methods like Wi-Fi fingerprinting or Cell of Origin techniques have considerable problems dealing with the dynamic environment, which is full of metal car bodies. This paper presents a localization technique based on Wi-Fi Round Trip Time (RTT), which should help to achieve robust positioning results. The proposed positioning technique is based on a geometric approach, which uses trilateration and a probabilistic approach based on the likelihood of the car's position. As a result, it is shown that Wi-Fi RTT is an appropriate option for industrial indoor positioning in dynamic environments. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.