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Analysis and evaluation of a particle filter for Wi-Fi azimuth and position tracking

: Nickel, Christian; Seitz, Jochen; Meister, Daniel


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Instrumentation and Measurement Society:
International Conference on Indoor Positioning and Indoor Navigation, IPIN 2016 : 4-7 October 2016, Madrid, Spain
Piscataway, NJ: IEEE, 2016
ISBN: 978-1-5090-2425-4
ISBN: 978-1-5090-2424-7
ISBN: 978-1-5090-2426-1
International Conference on Indoor Positioning and Indoor Navigation (IPIN) <7, 2016, Madrid>
Conference Paper
Fraunhofer IIS ()

A tracking algorithm for position and azimuth estimation based on Wi-Fi fingerprinting with directional antennas is analyzed and evaluated. A particle filter is used for fusing received signal strength of Wi-Fi with sensor readings of an inertial measurement unit, which is combined with pedestrian dead reckoning. Two setups for different application scenarios were developed and evaluated in an industry-like environment. The proposed approach reduces position error by up to 58% in sub-optimal scenarios, such as fewer available access points or a single directional antenna. In addition, the estimation of azimuth of the subject improves up to 64%.