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Abstract
Wi-Fi Based Local/Indoor Positioning System is a Navigation system based on Wi-Fi. Wi-Fi based positioning system uses Wi-Fi signals to track the position of the target. Currently Positioning system using Wi-Fi signal is done using trilateration and location signature/finger printing method. In trilateration ,signal strength of signals from various Wi-Fi access points is measured and position is tracked by trilateration. Interference from reflected Wi-Fi signals can cause errors in it.In location signature method, it have 2 phases. In the first training phase, the location signature (i.e. the signal strength data from various access points (APs) at that point) of discrete points were recorded and stored in the database along with the location details of that point within building. Since the actual signals at various points are collected, this signal information will include the interference and multipath patterns of the Wi-Fi signal data in the indoor environment which will even help to differentiate between two spatially close points but separated by walls. In the second positioning or testing phase, the obtained signals at users location are matched back to the training data. The location corresponding to the best match using a location estimation algorithm is the estimated position of the user, but requires an extensive training dataset and cannot adapt well to configuration changes or receiver breakdown. We have an idea which we think can reduce errors in trilateration method.In this placing of Wi-Fi access points is so done that every point will have at least 1 AP providing full strength Wi-Fi Signal (or In Computation, Wi-Fi AP with Highest Signal strength is found out), since we know where every AP's are placed, So for Trilateration We take signals only from AP's which are close to the AP which has the maximum strength so that interference caused due reflected signals from distant APs are avoided.

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Acknowledgments
We are grateful to our institution College of engineering,Thalassery for having provided us with the facilities that lead to the successful completion of our project. The congenial environment and surroundings to work in, provided by our respected principal, Prof.Kunjumoideen and Prof.C.Ramachandran, HOD of ECE department is gratefully acknowledged. We would also like to express our heartfelt thanks to our project co-ordinator ,Assistant Professor, Mr.Jinesh.S for his whole hearted support throughout our work. Most sincere gratitude is expressed to our supervisor, Assistant Professor Mr.Anoop K for his guidance, support and encouragement. His vast experience and deep understanding of the subject proved to be immense help to us, and also his profound view-points and extraordinary motivation enlightened us in many ways.

We are also grateful to Mr Sunil, Mr Pradeep and Ms Bijulla, our lab staffs for all of their measurement, computer and technical assistance throughout our graduate program.

We cannot finish without mentioning our parents and friends, who have been offering all round support and strength during the period of our study.

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Table of Contents
Abstract Acknowledgments Table of Contents List of Figures List of Tables List of Abbreviations i ii iii v vi vii

1 Introduction 1.1 Introduction....1 1.2 Types of Navigation systems...2 1.3 How Positioning System Works.2 1.4 2-D Trilateration........3 1.5 3-D Trilateration.....4

2 Indoor Positioning System 2.1 Introduction.6

3 Wi-Fi Based Local/Indoor Positioning System 3.1 Objective. 8 3.2 How it is Done? ............................. ..8 3.2.1 Choke Point Concepts 8 3.2.2 Grid Concepts..8 3.2.3 Long range sensor concepts.... 9 3.2.4 Angle of arrival... 9 3.2.5 Time of Arrival.... 9 3.2.6 Received signal strength indication.....9 3.2.7 Inertial measurements....10

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3.2.8 Location signature / fingerprinting method10 3.3 WPS infrastructure & Hardware.....11
3.3.1 Wi-Fi Access Points....11 3.3.2 Wi-Fi..11 3.3.3 Wireless Network Interface Controller.12 3.3.4 Desktop/Laptop Computer13

3.4 Hardware Architucture........14

4 Software Devolopment 4.1 Introduction.15 4.2 Derivation of trilateration Equation...15 4.3 Software Architecture..16 4.3.1 Creating a Source MEX-File..21 4.4 Software Flowchart.27 4.5 Source Code.28 4.5.1 C++ Programs...28 4.5.2 Matlab Programs for user interface..45

5 Conclusions and Future Work 5.1 Summary .. 94 5.2 Advantages, disadvanteges & Applications94 5.3 Conclusion & Future Work 94

List of Figures

Figure 1.1: 2D trilateration I.3 Figure 1.2: 2D trilateration II3 Figure 1.3: 2D trilateration III..4 Fig 3.1: Wi-Fi Access Point.11 Fig 3.2: Wireless Network Interface Controller....13 Fig 3.3: Hardware Architucture......14 Fig 4.1: Software Flow Chart.27

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List of Tables

Table 4.1: Compilers Supported by Matlab19

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List of Abbreviations
GPS WPS Wi-Fi NDIS AoA ToA 2D 3D IPS RTLS IEEE IBM RFID RSSI AP WAP LAN PAN WNIC PCI Global Positioning System Wireless Positioning System Wireless Fidelity Network Device Interface System Angle of Arrival Time of Arrival Two-Dimensional Three-Dimensional Indoor Positioning System Real Time Location System Institute of Electrical and Electronics Engineers International Buisiness Machines Radio Frequency Identification Received Signal Strength Indicator Access Point Wireless Access Point Local Area Network Personal Area Network Wireless Network Interface Controller Peripheral Component Interconnect