Performance of Fingerprinting-Based Indoor Positioning with Measured and Simulated RSSI Reference Maps

Abstract

Numerous indoor positioning technologies and systems have been proposed to localize people and objects in large buildings. Wi-Fi and Bluetooth positioning systems using fingerprinting have gained popularity, due to the wide availability of existing infrastructure. Unfortunately, the implementation of fingerprinting-based methods requires time-consuming radio surveys to prepare databases (RSSI maps) that serve as a reference for the radio signal. These surveys must be conducted for each individual building. Here, we investigate the possibility of using simulated RSSI maps with fingerprinting-based indoor localization systems. We discuss the suitability of the two popular radio wave propagation models for the preparation of RSSI reference data: ray tracing and multiwall. Based on an analysis of several representative indoor scenarios, we evaluated the performance of RSSI distribution maps obtained from simulations versus maps obtained from measurement campaigns. An experimental positioning system developed by the authors was used in the study. Based on Bluetooth Low Energy beacons and mobile devices (smartphones), the system uses fingerprinting followed by a particle filter algorithm to estimate the user’s current position from RSSI measurements and a reference spatial RSSI distribution database for each Bluetooth beacon in the building. The novelty of our contribution is that we evaluate the performance of the positioning system with RSSI maps prepared both from measurements and using the two most representative indoor propagation methods, in three different environments in terms of structure and size. We compared not only the three RSSI maps, but also how they influence the performance of the fingerprint-based positioning algorithm. Our original findings have important implications for the development of indoor localization systems and may reduce deployment times by replacing reference measurements with computer simulations. Replacing the labor-intensive and time-consuming process of building reference maps with computer modeling may significantly increase their usefulness and ease of adaptation in real indoor environments.