A new methodology for long-term maintenance of WiFi fingerprinting radio maps

One of the main problems of Indoor Positioning Systems (IPSs) based on WiFi fingerprinting is the radio map maintenance. It is well known that the creation of the radio map is a tedious and long-time task. In addition, if sometime after its creation, some access points are removed from the environment the accuracy of the IPS can be dramatically affected. This paper presents a new methodology to deal with this problem using imputation based techniques. An extensive set of experiments, comparing different imputation techniques, has been performed to demonstrate the benefits of using the proposed approach, showing that the proposed method is able to reduce the localization error in almost one meter with respect to a well-known solution.