Location Fingerprinting With Bluetooth Low Energy Beacons
TL;DR: This work provides a detailed study of BLE fingerprinting using 19 beacons distributed around a ~600 m2 testbed to position a consumer device, and investigates the choice of key parameters in a BLE positioning system, including beacon density, transmit power, and transmit frequency.
Abstract: The complexity of indoor radio propagation has resulted in location-awareness being derived from empirical fingerprinting techniques, where positioning is performed via a previously-constructed radio map, usually of WiFi signals. The recent introduction of the Bluetooth Low Energy (BLE) radio protocol provides new opportunities for indoor location. It supports portable battery-powered beacons that can be easily distributed at low cost, giving it distinct advantages over WiFi. However, its differing use of the radio band brings new challenges too. In this work, we provide a detailed study of BLE fingerprinting using 19 beacons distributed around a $\sim\! 600\ \mbox{m}^2$ testbed to position a consumer device. We demonstrate the high susceptibility of BLE to fast fading, show how to mitigate this, and quantify the true power cost of continuous BLE scanning. We further investigate the choice of key parameters in a BLE positioning system, including beacon density, transmit power, and transmit frequency. We also provide quantitative comparison with WiFi fingerprinting. Our results show advantages to the use of BLE beacons for positioning. For one-shot (push-to-fix) positioning we achieve $30\ \mbox{m}^2$ ), compared to $100\ \mbox{m}^2$ ) and < 8.5 m for an established WiFi network in the same area.
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TL;DR: The study synthesizes the fundamental characteristics of VLC-based positioning systems that need to be considered, presents several technology gaps based on the current state-of-the-art for future research endeavors, and summarizes the lessons learned towards the standardization of the performance evaluation.
Abstract: The emergent context-aware applications in ubiquitous computing demands for obtaining accurate location information of humans or objects in real-time. Indoor location-based services can be delivered through implementing different types of technology, among which is a recent approach that utilizes LED lighting as a medium for Visible Light Communication (VLC). The ongoing development of solid-state lighting (SSL) is resulting in the wide increase of using LED lights and thereby building the ground for a ubiquitous wireless communication network from lighting systems. Considering the recent advances in implementing Visible Light Positioning (VLP) systems, this article presents a review of VLP systems and focuses on the performance evaluation of experimental achievements on location sensing through LED lights. We have outlined the performance evaluation of different prototypes by introducing new performance metrics, their underlying principles, and their notable findings. Furthermore, the study synthesizes the fundamental characteristics of VLC-based positioning systems that need to be considered, presents several technology gaps based on the current state-of-the-art for future research endeavors, and summarizes our lessons learned towards the standardization of the performance evaluation.
51 citations
01 Mar 2019
TL;DR: The real time experiments prove the efficacy of the proposed algorithms over the traditional approach in the context of NLOS, multipath propagation.
Abstract: With the advancements in the mobile devices having Bluetooth Low Energy (BLE) capability, the BLE based indoor target localization is the recent trend. The majority of indoor localization methods generally rely on traditional simple techniques such as trilateration or angulation. However significant localization errors are involved with these techniques due to highly nonlinear relationship between RSSI and distance because of issues such as NLOS, multipath propagation. The Generalized Regression Neural Network (GRNN) with a one pass learning capability, is well known for its ability to train quickly. This paper proposes an application of GRNN as an alternative to these traditional techniques to obtain first location estimates of moving person using a hybrid network of PSOC BLE nodes and smartphone, which are further refined using Kalman filtering (KF) framework. Two algorithms namely, GRNN + Kalman filter and GRNN + Unscented Kalman filter are proposed in this research work. The GRNN is trained with the RSSI values from PSOC BLE nodes at various locations and the corresponding actual 2-D locations of the given monitoring area. The real time experiments prove the efficacy of the proposed algorithms over the traditional approach in the context of NLOS, multipath propagation.
50 citations
TL;DR: The overall objective of this work is to review the assistive technologies proposed by researchers in recent years to address the limitations in user mobility posed by visual impairment and presents an “umbrella review.”
Abstract: The overall objective of this work is to review the assistive technologies that have been proposed by researchers in recent years to address the limitations in user mobility posed by visual impairment. This work presents an "umbrella review." Visually impaired people often want more than just information about their location and often need to relate their current location to the features existing in the surrounding environment. Extensive research has been dedicated into building assistive systems. Assistive systems for human navigation, in general, aim to allow their users to safely and efficiently navigate in unfamiliar environments by dynamically planning the path based on the user's location, respecting the constraints posed by their special needs. Modern mobile assistive technologies are becoming more discrete and include a wide range of mobile computerized devices, including ubiquitous technologies such as mobile phones. Technology can be used to determine the user's location, his relation to the surroundings (context), generate navigation instructions and deliver all this information to the blind user.
50 citations
Cites background from "Location Fingerprinting With Blueto..."
...The required time and costly signal strength system calibration is very high in the beginning [43, 44]....
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TL;DR: The results are promising and demonstrate that the system would be able to position users with these reasonable values of accuracy and precision.
Abstract: This paper presents a study of positioning system that provides advanced information services based on Wi-Fi and Bluetooth Low Energy (BLE) technologies. It uses Wi-Fi for rough positioning and BLE for fine positioning. It is designed for use in public transportation system stations and terminals where the conditions are “hostile” or unfavourable due to signal noise produced by the continuous movement of passengers and buses, data collection conducted in the constant presence thereof, multipath fading, non-line of sight (NLOS) conditions, the fact that part of the wireless communication infrastructure has already been deployed and positioned in a way that may not be optimal for positioning purposes, variable humidity conditions, etc. The ultimate goal is to provide a service that may be used to assist people with special needs. We present experimental results based on scene analysis; the main distance metric used was the Euclidean distance but the Mahalanobis distance was also used in one case. The algorithm employed to compare fingerprints was the weighted k-nearest neighbor one. For Wi-Fi, with only three visible access points, accuracy ranged from 3.94 to 4.82 m, and precision from 5.21 to 7.0 m 90% of the time. With respect to BLE, with a low beacon density (1 beacon per 45.7 m2), accuracy ranged from 1.47 to 2.15 m, and precision from 1.81 to 3.58 m 90% of the time. Taking into account the fact that this system is designed to work in real situations in a scenario with high environmental fluctuations, and comparing the results with others obtained in laboratory scenarios, our results are promising and demonstrate that the system would be able to position users with these reasonable values of accuracy and precision.
49 citations
Cites background or methods from "Location Fingerprinting With Blueto..."
...In our case, even working in aggregate mode, this effect is reflected in the multimodal distribution hown in the histogram of Figure 16b; thi is simply the consequence of the fact that BLE technology transmits advertisements on these channel to mitigate interference with other d vices [15]....
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...4 GHz) there may be interference problems [15], although: (1) interference problems usually occur when the number of access points is very large, something that did not happen in our case; (2) possible interference problems could be overcome by avoiding certain channels and taking into account the fact that Bluetooth automatically uses FHSS (frequency hopping spread spectrum)....
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..., in two important papers [14,15], first investigated the impact of BLE devices on indoor positioning schemes based on RSS fingerprints, and then conducted a detailed scene analysis study using proximity and the k-nearest neighbours (KNN) algorithm with the aggregation of the three BLE channels....
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...In our case, even working in aggregate mode, this effect is reflected in the multimodal distribution shown in the histogram of Figure 16b; this is simply the consequence of the fact that BLE technology transmits advertisements on these channels to mitigate interference with other devices [15]....
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...Faragher [15] BLE Bayesian approach N/A 95% within 2....
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TL;DR: An overview of the available smartphone-based indoor localization solutions that rely on radio frequency technologies and fingerprinting localization is provided, which are realized using a smartphone and Wi-Fi/Bluetooth Low Energy (BLE) as a signal source.
Abstract: In recent times, social and commercial interests in location-based services (LBS) are significantly increasing due to the rise in smart devices and technologies. The global navigation satellite systems (GNSS) have long been employed for LBS to navigate and determine accurate and reliable location information in outdoor environments. However, the GNSS signals are too weak to penetrate buildings and unable to provide reliable indoor LBS. Hence, GNSS's incompetence in the indoor environment invites extensive research and development of an indoor positioning system (IPS). Various technologies and techniques have been studied for IPS development. This paper provides an overview of the available smartphone-based indoor localization solutions that rely on radio frequency technologies. As fingerprinting localization is mostly accepted for IPS development owing to its good localization accuracy, we discuss fingerprinting localization in detail. In particular, our analysis is more focused on practical IPS that are realized using a smartphone and Wi-Fi/Bluetooth Low Energy (BLE) as a signal source. Furthermore, we elaborate on the challenges of practical IPS, the available solutions and comprehensive performance comparison, and present some future trends in IPS development.
49 citations
Cites background or methods from "Location Fingerprinting With Blueto..."
...Similarly, the literature that employ BLE for probability-based fingerprinting are presented in [59,151]....
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...It is reported that the power draw of the smartphone is lower for BLE than for Wi-Fi [59]....
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...IPS in [59] BLE RSS Probabilistic method N/A 95% (2....
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References
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01 Nov 2007
TL;DR: Comprehensive performance comparisons including accuracy, precision, complexity, scalability, robustness, and cost are presented.
Abstract: Wireless indoor positioning systems have become very popular in recent years. These systems have been successfully used in many applications such as asset tracking and inventory management. This paper provides an overview of the existing wireless indoor positioning solutions and attempts to classify different techniques and systems. Three typical location estimation schemes of triangulation, scene analysis, and proximity are analyzed. We also discuss location fingerprinting in detail since it is used in most current system or solutions. We then examine a set of properties by which location systems are evaluated, and apply this evaluation method to survey a number of existing systems. Comprehensive performance comparisons including accuracy, precision, complexity, scalability, robustness, and cost are presented.
4,123 citations
"Location Fingerprinting With Blueto..." refers background in this paper
...Indoor positioning is a mature research field, with many proposed technologies and techniques—comprehensive overviews can be found in [2], [18], [19]....
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06 Jun 2005
TL;DR: The Horus system identifies different causes for the wireless channel variations and addresses them and uses location-clustering techniques to reduce the computational requirements of the algorithm and the lightweight Horus algorithm helps in supporting a larger number of users by running the algorithm at the clients.
Abstract: We present the design and implementation of the Horus WLAN location determination system. The design of the Horus system aims at satisfying two goals: high accuracy and low computational requirements. The Horus system identifies different causes for the wireless channel variations and addresses them to achieve its high accuracy. It uses location-clustering techniques to reduce the computational requirements of the algorithm. The lightweight Horus algorithm helps in supporting a larger number of users by running the algorithm at the clients.We discuss the different components of the Horus system and its implementation under two different operating systems and evaluate the performance of the Horus system on two testbeds. Our results show that the Horus system achieves its goal. It has an error of less than 0.6 meter on the average and its computational requirements are more than an order of magnitude better than other WLAN location determination systems. Moreover, the techniques developed in the context of the Horus system are general and can be applied to other WLAN location determination systems to enhance their accuracy. We also report lessons learned from experimenting with the Horus system and provide directions for future work.
1,631 citations
"Location Fingerprinting With Blueto..." refers background in this paper
...Here the focus is on radio positioning, specifically using the empirical fingerprinting techniques [3], [15], [17], [22] that avoid the need to model the complex radio propagation environment indoors by patternmatching to a previously surveyed map of radio signal strengths....
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TL;DR: It is concluded that PDR techniques alone can offer good short- to medium- term tracking under certain circumstances, but that regular absolute position fixes from partner systems will be needed to ensure long-term operation and to cope with unexpected behaviours.
Abstract: With the continual miniaturisation of sensors and processing nodes, Pedestrian Dead Reckoning (PDR) systems are becoming feasible options for indoor tracking. These use inertial and other sensors, often combined with domain-specific knowledge about walking, to track user movements. There is currently a wealth of relevant literature spread across different research communities. In this survey, a taxonomy of modern PDRs is developed and used to contextualise the contributions from different areas. Techniques for step detection, characterisation, inertial navigation and step-and-heading-based dead-reckoning are reviewed and compared. Techniques that incorporate building maps through particle filters are analysed, along with hybrid systems that use absolute position fixes to correct dead-reckoning output. In addition, consideration is given to the possibility of using smartphones as PDR sensing devices. The survey concludes that PDR techniques alone can offer good short- to medium- term tracking under certain circumstances, but that regular absolute position fixes from partner systems will be needed to ensure long-term operation and to cope with unexpected behaviours. It concludes by identifying a detailed list of challenges for PDR researchers.
749 citations
"Location Fingerprinting With Blueto..." refers background in this paper
...fingerprints with other sources to form hybrid systems, many of which are based on the idea of Simultaneous Localization and Mapping (SLAM) [10], [16] being applied to pedestrian dead reckoning [13]....
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01 Feb 2000
TL;DR: This paper analyzes shortcomings of the basic system, develops and evaluates solutions to address these shortcomings, and describes several new enhancements, including a novel access point-based environmental profiling scheme, and a Viterbi-like algorithm for continuous user tracking and disambiguation of candidate user locations.
Abstract: We address the problem of locating users inside buildings using a radio-frequency (RF) wireless LAN. A previous paper presented the basic design and a limited evaluation of a user-location system we have developed. In this paper, we analyze shortcomings of the basic system, and develop and evaluate solutions to address these shortcomings. Additionally, we describe several new enhancements, including a novel access point-based environmental profiling scheme, and a Viterbi-like algorithm for continuous user tracking and disambiguation of candidate user locations. Using extensive data collected from our deployment, we evaluate our system’s performance over multiple wireless LAN technologies and in different buildings on our campus. We also discuss significant practical issues that arise in implementing such a system. Our techniques are implemented purely in software and are easily deployable over a standard wireless LAN.
608 citations
01 Jun 2010
TL;DR: NTP version 4 (NTPv4), which is backwards compatible with NTP version 3 (N TPv3), described in RFC 1305, as well as previous versions of the protocol, are described.
Abstract: The Network Time Protocol (NTP) is widely used to synchronize computer
clocks in the Internet. This document describes NTP version 4 (NTPv4),
which is backwards compatible with NTP version 3 (NTPv3), described in
RFC 1305, as well as previous versions of the protocol. NTPv4 includes
a modified protocol header to accommodate the Internet Protocol
version 6 address family. NTPv4 includes fundamental improvements in
the mitigation and discipline algorithms that extend the potential
accuracy to the tens of microseconds with modern workstations and fast
LANs. It includes a dynamic server discovery scheme, so that in many
cases, specific server configuration is not required. It corrects
certain errors in the NTPv3 design and implementation and includes an
optional extension mechanism. [STANDARDS-TRACK]
605 citations
"Location Fingerprinting With Blueto..." refers methods in this paper
...Before each experiment, each clock was manually synchronized using a Network Time Protocol (NTP) server [20]....
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