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A Constrained Kalman Filter for Wi-Fi-Based Indoor Localization with Flexible Space Organization

Vincent Sircoulomb 1 Houcine Chafouk 
1 Pôle Automatique et Systèmes
IRSEEM - Institut de Recherche en Systèmes Electroniques Embarqués
Abstract : This paper presents a constrained Kalman filter for Wi-Fi-based indoor localization. The contribution of this work is to introduce constraints on the object speed and to provide a numerically optimized form for fast computation. The proposed approach is suitable to flexible space organization, as in warehouses, and when objects can be spun around, for example barcode readers in a hand. We experimented with the proposed technique using a robot and three devices, on five different journeys, in a 6000 m2 warehouse equipped with six Wi-Fi access points. The results highlight that the proposed approach provides a 19% improvement in localization accuracy.
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https://hal-normandie-univ.archives-ouvertes.fr/hal-03515512
Contributor : Vincent Sircoulomb Connect in order to contact the contributor
Submitted on : Thursday, January 6, 2022 - 5:44:19 PM
Last modification on : Thursday, March 10, 2022 - 10:46:02 AM

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  • HAL Id : hal-03515512, version 1

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Vincent Sircoulomb, Houcine Chafouk. A Constrained Kalman Filter for Wi-Fi-Based Indoor Localization with Flexible Space Organization. Sensors, In press, 22 (428). ⟨hal-03515512⟩

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