Abstract
An indoor location system (ILS) for practical asset and people tracking in indoor scenarios using received signal strength (RSS) ZigBee-based sensor network and inertial sensors is presented. A novel algorithm that uses differential signal levels gathered from a set of transmitter nodes is developed for processing RSS data. These levels are introduced into a cost function whose minimum gives the asset location estimation. The use of differential field levels-based algorithm avoids the need of system calibration due to signal strength fluctuation. Moreover, position accuracy is improved by adding inertial sensor information. The method is tested in a real scenario, demonstrating practical indoor positioning when combining ZigBee-based sensor network and inertial sensors information. The influence of the number of ZigBee nodes on the position estimation accuracy has been analysed.
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