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I. I NTRODUCTION
Indoor localization has received a lot of attention over the
past few decades [1]. A good indoor localization system must
have a high accuracy, a short training phase, a low cost, and
a good robustness in the face of previously unobserved conditions. Fingerprinting based localization techniques have been
proposed for indoor and challenging environments such as
mines, tunnels, and hospitals where the propagation is highly
affected by noise and multipath components. Fingerprinting
techniques refer to identifying a specified location by relying
on the data which can represent this location.
Fingerprinting localization systems are based on two phases:
the off-line phase (training) and the on-line phase (localization). In this paper, during the training phase, a fingerprinting database consisting of the signatures extracted from the
channel impulse response (CIR) of the Ultra-wideband (UWB)
measurement campaign is built. This database benefits from
the high time resolution and multipath resolvability of the
UWB signals [2], [3], [4]. In the on-line phase, this database
is used to locate targeted nodes. Different techniques can be
applied to train the database such as Nearest Neighbour, Support Vector Regression, and Neural Networks. Assuming that
the fingerprinting database cannot be analysed mathematically
due to their complexities, the neural networks are proposed in
our work.
In this direction, this paper presents a contribution to
fingerprinting based localization techniques using neural networks and ultra-wideband CIR. We start in section II by
(1)
(2)
where mi1 , mi2 , mi3 , ..., mij represent the different fingerprints of the ith point. E.g. if Etot is selected as the
fingerprint and four different receivers are the reference nodes,
the definition (2) becomes:
fi = [Etoti1 , Etoti2 , Etoti3 , Etoti4 ]
(3)
(4)
Fingerprint
Etot
Emax
rms
percent
Mean (m)
1.055
1.691
3.893
7.122
Std (m)
0.765
1.290
3.291
4.952
1.0
0.8
0.6
1.0
0.4
Cumulative probability
0.8
0.2
0.6
0.00.0
0.4
0.2
0.00
Cumulative probability
6
8 10 12
Positioning error (m)
FP:[Etot]
FP:[Emax]
FP:[rms]
FP:[percent]
14 16 18
0.5
1.0
FP:[Etot]+[TOA]
FP:[TOA]
FP:[Etot]
1.5 2.0 2.5 3.0 3.5 4.0 4.5
Positioning error (m)
Mean (m)
1.055
0.455
0.377
Std (m)
0.765
0.297
0.255
1.2
1.0
0.8
1.0
0.4
0.0
0.5
1.0
3.5
4.0
1.0
Cumulative probability
0.8
0.8
Cumulative probability
0.6
0.6
0.4
0.4
0.2
0.00.0
0.6
0.5
1.0
FP:[RSS+4TOA]
FP:[RSS+3TOA]
FP:[RSS+2TOA]
FP:[RSS+1TOA]
FP:[RSS]
1.5 2.0 2.5 3.0 3.5 4.0 4.5
Positioning error (m)
0.2
0.00
4
5
3
Positioning error (m)
50%
25%
20%
10%
This paper has presented a measurements- and simulationsbased study of a fingerprinting technique based on neural networks and Ultra-wideband signals. The proposed technique is
based on the construction of a fingerprinting database of LDPs
Mean (m)
1.373
1.055
0.994
0.962
Std (m)
1.266
0.765
0.614
0.596
extracted from an UWB measurement campaign. The feedforward neural network with incremental back-propagation
algorithm is used to learn the database and to locate the
targeted positions. Different types of fingerprints and different
sizes of the fingerprinting database are considered to evaluate
the positioning performance. Simulations have shown that
RSSI-based fingerprint can provide good localization accuracy
and that the fusion of very precise TOA fingerprints can
drastically improve the positioning accuracy. In addition, we
have shown that increasing the number of learnt points does
not mean usually to enhance performances. A fair database
size is sufficient to reach the best performances. Future work
consists in using Motley Keenan Multiwall model and ray
tracing techniques to replace measured by simulated databases
.
ACKNOWLEDGMENT
This work has been performed in the framework of the ICT
project ICT-248894 WHERE2, which is partly funded by the
European Union.
R EFERENCES
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