The source code for the paper: Sami Huilla and Chrysanthos Pepi and Michalis Antoniou and Christos Laoudias and Seppo Horsmanheimo and Sergio Lembo and Matti Laukkanen and Georgios Ellinas, “Indoor Fingerprinting with Wi-Fi Fine Timing Measurements Through Range Filtering and Fingerprinting Methods”, IEEE 31st Annual International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC), 2020.
Wi-Fi technology has been thoroughly studied for indoor localization. This is mainly due to the existing infrastructure inside buildings for wireless connectivity and the uptake of mobile devices where Wi-Fi location-dependent measurements, e.g., timing and signal strength readings, are readily available to determine the user location. To enhance the accuracy of Wi-Fi solutions, a two-way ranging approach was recently introduced into the IEEE 802.11 standard for the provision of Fine Timing Measurements (FTM). Such measurements enable a more reliable estimation of the distance between FTM-capable Wi-Fi access points and user-carried devices; thus, promising to deliver meter-level location accuracy. In this work, we propose two novel solutions that leverage FTM and follow different approaches, which have not been investigated in the literature. The first solution is based on an Unscented Kalman Filter (UKF) algorithm to process FTM ranging measurements, while the second solution relies on an FTM fingerprinting method. Experimental results using real-life data collected in a typical office environment demonstrate the effectiveness of both solutions, while the FTM fingerprinting approach demonstrated 1.12m and 2.13m localization errors for the 67-th and 95-th percentiles, respectively. This is a two to three times improvement over the traditional Wi-Fi signal strength fingerprinting approach and the UKF ranging algorithm.
The project consist of 3 tasks, RadioMap Builder, Fingerprinting Localization, and Results inside the build.gradle file.
To generate radioMaps
- Input: radioMap
- Output: rssRadioMap, ftmRadioMap, stdRadioMap, exdRadioMap
To compute positioning errors through fingerprinting
- Input: route
- Output: coordinates of the estimate locations and positioning errors
To print positioning errors
In order to run the project input files (radioMap and route) should follow the below structure. Sample files included.
...
# Timestamp, X, Y, MAC Address of AP, RSS, Range, stdRange
1572514592169.957000 3.4513764 44.006992 ec:58:ea:78:b9:0c -49 23421 4590
1572514592169.957000 3.4513764 44.006992 ec:58:ea:38:b9:0c -50 2009 579
1572514592169.957000 3.4513764 44.006992 ec:58:ea:78:b9:08 -45 3590 381
1572514592169.957000 3.4513764 44.006992 ec:58:ea:38:b9:08 -46 9573 1136
1572514592169.957000 3.4513764 44.006992 38:ff:36:31:86:e8 -79 23653 785
1572514592169.957000 3.4513764 44.006992 38:ff:36:b1:86:e8 -80 16814 1214
1572514592169.957000 3.4513764 44.006992 38:ff:36:71:86:e8 -80 20202 256
...
Chrysanthos Pepi KIOS Research and Innovation Center of Excellence, University of Cyprus
Michalis Antoniou KIOS Research and Innovation Center of Excellence, University of Cyprus
Christos Laoudias KIOS Research and Innovation Center of Excellence, University of Cyprus
Sami Huilla and Chrysanthos Pepi and Michalis Antoniou and Christos Laoudias and Seppo Horsmanheimo and Sergio Lembo and Matti Laukkanen and Georgios Ellinas, “Indoor Fingerprinting with Wi-Fi Fine Timing Measurements Through Range Filtering and Fingerprinting Methods”, IEEE 31st Annual International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC), 2020.
@INPROCEEDINGS{Huilla2020,
AUTHOR="Sami Huilla and Chrysanthos Pepi and Michalis Antoniou and Christos
Laoudias and Seppo Horsmanheimo and Sergio Lembo and Matti Laukkanen and
Georgios Ellinas",
TITLE="Indoor Fingerprinting with {Wi-Fi} Fine Timing Measurements Through Range
Filtering and Fingerprinting Methods",
BOOKTITLE="IEEE 31st Annual International Symposium on Personal, Indoor and
Mobile Radio Communications (PIMRC) to appear",
ADDRESS="London, United Kingdom (Great Britain)",
DAYS=30,
MONTH=aug,
YEAR=2020"}
European Union Public License (EUPL) v1.2