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

Vincent Sircoulomb (1, 2) , Houcine Chafouk (1, 2)

1 Pôle Automatique et Systèmes
2 IRSEEM - Institut de Recherche en Systèmes Electroniques Embarqués

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.

Mots clés: constrained Kalman filtering; Wi-Fi; Localization Based Service (LBS); flexible indoor organization

Domaines: Automatique / Robotique

Vincent Sircoulomb, Houcine Chafouk. A Constrained Kalman Filter for Wi-Fi-Based Indoor Localization with Flexible Space Organization. Sensors, inPress, 22 (428), ⟨10.3390/s22020428⟩. ⟨hal-03515512⟩