Indoor Positioning with Radio Location Fingerprinting

Indoor Positioning with Radio Location Fingerprinting Mikkel Baun Kjærgaard PhD Dissertation Department of Computer Science University of Aarhus Denmark arXiv:1004.4759v1 [cs.NI] 27 Apr 2010 Indoor Positioning with Radio Location Fingerprinting A Dissertation Presented to the Faculty of Science of the University of Aarhus in Partial Fulfilment of the Requirements for the PhD Degree by Mikkel Baun Kjærgaard October 23, 2018 Abstract An increasingly important requirement for many novel applications is sensing the positions of people, equipment, animals, etc. GPS technology has proven itself as a successfull technology for positioning in outdoor environments but indoor no technology has yet gained a similar wide-scale adoption. A promis- ing indoor positioning technique is radio-based location fingerprinting, having the major advantage of exploiting already existing radio infrastructures, like IEEE 802.11 or GSM, which avoids extra deployment costs and effort. The re- search goal of this thesis is to address the limitations of current indoor location fingerprinting systems. In particular the aim is to advance location fingerprinting techniques for the challenges of handling heterogeneous clients, scalability to many clients, and interference between communication and positioning. The wireless clients used for location fingerprinting are heterogeneous even when only considering clients for the same technology. The heterogeneity is due to different radios, an- tennas, and firmwares causing measurements for location fingerprinting not to be directly comparable among clients. Heterogeneity is a challenge for location fingerprinting because it severely decreases the precision of location fingerprint- ing. To support many clients location fingerprinting has to address how to scale estimate calculation, measurement distribution, and distribution of position es- timates. This is a challenge because of the number of calculations involved and the frequency of measurements and position updates. Positioning using loca- tion fingerprinting requires the measurement of, for instance, signal strength for nearby base stations. However, many wireless communication technologies block communication while collecting such measurements. This interference is a challenge because it is not desirable that positioning disables communication. In summary, this thesis contributes to methods, protocols, and techniques of location fingerprinting for addressing these challenges. An additional goal is to improve the conceptual foundation of location fingerprinting. A better foundation will aid system developers and researchers to better survey, compare, and design location fingerprinting systems. v Acknowledgements There are many people who I would like to thank for their encouragement and support in making my period of study a pleasant time. Here I can only mention a few of them. I would like to thank my supervisor Klaus Marius Hansen for his valuable guidance during the last four years. I would also like to thank my second supervisor Søren Christensen for his guidance. During my Ph.D studies I have greatly benefitted from working together with Lisa Wells, Doina Bucur, and Carsten Valdemar Munk and I would like to thank them for their invaluable help and support. I would also like to thank Jonathan Bunde-Pedersen and Martin Mogensen for being great fellow students during the last eight years and for all the good discussions about doing research and life as a Ph.D student. Furthermore, I would like to thank the members of the Mobile and Dis- tributed Systems group for hosting my stay at the Ludwig-Maximilian-University Munich and for a lot of inspiring work and discussions while I was there. I would also like to thank Thomas King for the great collaboration during the past year and for his fruitful visit to Aarhus. I would also like to acknowledge the financial support from the software part of the ISIS Katrinebjerg Competence Center and Kirk Telecom. Furthermore, I would like to thank the people working at Kirk Telecom for a good working relationship and for being a source of inspiration for my research. But doing a Ph.D would not have made much fun without the support, love and joy from Sebastian, Mathilde and Mia and the rest of my family. Mikkel Baun Kjærgaard, ˚ Arhus, October 23, 2018. vii Structure of the Thesis Part I of my PhD thesis entitled ”Indoor Positioning with Radio Location Fin- gerprinting” gives an overview of my work. It summarizes my research and relates this to relevant literature and research. The text assumes a basic knowl- edge of statistics, and methods for machine learning and estimation. This part is structured as follows: Chapter 1: Introduction and Motivation motivates the need for indoor positioning and introduces location fingerprinting as a solution for this problem. Furthermore it discusses the research objectives and approach of the thesis and describes the empirical background of the thesis. Chapter 2: Background provides an

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