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A novel backtracking particle filter for pattern matching indoor localization

Published: 19 September 2008 Publication History

Abstract

Particle Filter (PF) techniques has been widely used in indoor localization systems. They are often used in conjunction with pattern matching based on Received Signal Strength Indication (RSSI) fingerprinting. Several variants of the particle filter within a generic framework of the Sequential Importance Sampling (SIS) algorithm have been described. The purpose of this paper is to show how a variant of PF, the so-called Backtracking Particle Filter (BPF), can be used to improve indoor localization performance.
The BPF is a technique for refining state estimates based on exclusion of invalid particle trajectories. Categorization of invalid trajectory determined during importance sampling step of the PF. The BPF can also take advantage of available building plan information using the so-called Map Filtering (MF) technique. The incorporation of MF allows the BPF to exploit long-range geometrical constraints.
This paper evaluates BPF with indoor localization based on WLAN RSSI fingerprinting. The filtering schema is evaluated using the propagation simulation in an office building, a typical environment for fingerprinting technique. Favorable result are obtained, showing positioning performance (1.34 m mean 2D error) superior to the PF-only no MF case (1.82 m mean 2D error), or up to 25% improvement. It is also shown that the performance is far better than the position estimates from conventional Nearest-Neighbour (NN) and Kalman Filter (KF) approaches using the same RSSI measurements.

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  • (2024)Refinement of Sparsely Tagged Ground Truth Paths Using PDR and Particle Filter Smoothing2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN)10.1109/IPIN62893.2024.10786186(1-6)Online publication date: 14-Oct-2024
  • (2024)An Indoor Localization System of Electrical Cabinets Carrying Robot Based on Digital Twin and Extended Particle FilterProceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023)10.1007/978-981-97-1103-1_16(176-187)Online publication date: 27-Apr-2024
  • (2023)Semi-Unsupervised Mitigation of Human Body Shadowing for Indoor UWB pedestrian tracking2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN)10.1109/IPIN57070.2023.10332514(1-7)Online publication date: 25-Sep-2023
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cover image ACM Conferences
MELT '08: Proceedings of the first ACM international workshop on Mobile entity localization and tracking in GPS-less environments
September 2008
142 pages
ISBN:9781605581897
DOI:10.1145/1410012
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 19 September 2008

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  1. backtracking particle filter
  2. indoor localization

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  • (2024)Refinement of Sparsely Tagged Ground Truth Paths Using PDR and Particle Filter Smoothing2024 14th International Conference on Indoor Positioning and Indoor Navigation (IPIN)10.1109/IPIN62893.2024.10786186(1-6)Online publication date: 14-Oct-2024
  • (2024)An Indoor Localization System of Electrical Cabinets Carrying Robot Based on Digital Twin and Extended Particle FilterProceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023)10.1007/978-981-97-1103-1_16(176-187)Online publication date: 27-Apr-2024
  • (2023)Semi-Unsupervised Mitigation of Human Body Shadowing for Indoor UWB pedestrian tracking2023 13th International Conference on Indoor Positioning and Indoor Navigation (IPIN)10.1109/IPIN57070.2023.10332514(1-7)Online publication date: 25-Sep-2023
  • (2022)Real-Time Map Matching with a Backtracking Particle Filter Using Geospatial AnalysisSensors10.3390/s2209328922:9(3289)Online publication date: 25-Apr-2022
  • (2022)Off-Line Evaluation of Indoor Positioning Systems in Different Scenarios: The Experiences From IPIN 2020 CompetitionIEEE Sensors Journal10.1109/JSEN.2021.308314922:6(5011-5054)Online publication date: 15-Mar-2022
  • (2018)bTrackedProceedings of the 15th EAI International Conference on Mobile and Ubiquitous Systems: Computing, Networking and Services10.1145/3286978.3287020(1-10)Online publication date: 5-Nov-2018
  • (2018)LSTM-Based Zero-Velocity Detection for Robust Inertial Navigation2018 International Conference on Indoor Positioning and Indoor Navigation (IPIN)10.1109/IPIN.2018.8533770(1-8)Online publication date: Sep-2018
  • (2017)SmartFixWireless Communications & Mobile Computing10.1155/2017/89593562017Online publication date: 1-Jan-2017
  • (2017)Moving Towards Wireless Sensors using RSSI Measurements and Particle FilteringProceedings of the 14th ACM Symposium on Performance Evaluation of Wireless Ad Hoc, Sensor, & Ubiquitous Networks10.1145/3134829.3134839(33-40)Online publication date: 21-Nov-2017
  • (2017)Extracting Context Information from Wi-Fi CapturesProceedings of the 10th International Conference on PErvasive Technologies Related to Assistive Environments10.1145/3056540.3056551(123-130)Online publication date: 21-Jun-2017
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