MaLoc: a practical magnetic fingerprinting approach to indoor localization using smartphones

Hongwei Xie, Tao Gu, Xianping Tao, Haibo Ye, Jian Lv

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

82 Citations (Scopus)

Abstract

Using magnetic field data as fingerprints for localization in indoor environment has become popular in recent years. Particle filter is often used to improve accuracy. However, most of existing particle filter based approaches either are heavily affected by motion estimation errors, which makes the system unreliable, or impose strong restrictions on smartphone such as fixed phone orientation, which is not practical for real-life use. In this paper, we present an indoor localization system named MaLoc, built on our proposed augmented particle filter. We create several innovations on the motion model, the measurement model and the resampling model to enhance the traditional particle filter. To minimize errors in motion estimation and improve the robustness of particle filter, we augment the particle filter with a dynamic step length estimation algorithm and a heuristic particle resampling algorithm. We use a hybrid measurement model which combines a new magnetic fingerprinting model and the existing magnitude fingerprinting model to improve the system performance and avoid calibrating different smartphone magnetometers. In addition, we present a novel localization quality estimation method and a localization failure detection method to address the "Kidnapped Robot Problem" and improve the overall usability. Our experimental studies show that MaLoc achieves a localization accuracy of 1∼2.8m on average in a large building.

Original languageEnglish
Title of host publicationProceedings of the 2014 ACM International Joint Conference on Pervasive and Ubiquitous Computing (UbiComp 2014)
Place of PublicationNew York, NY
PublisherAssociation for Computing Machinery (ACM)
Pages243-253
Number of pages11
ISBN (Print)9781450329682
DOIs
Publication statusPublished - 2014
Externally publishedYes
Event2014 ACM International Joint Conference on Pervasive and Ubiquitous Computing, UbiComp 2014 - Seattle, United States
Duration: 13 Sep 201417 Sep 2014

Publication series

NameUbiComp 2014 - Proceedings of the 2014 ACM International Joint Conference on Pervasive and Ubiquitous Computing

Conference

Conference2014 ACM International Joint Conference on Pervasive and Ubiquitous Computing, UbiComp 2014
CountryUnited States
CitySeattle
Period13/09/1417/09/14

Keywords

  • Indoor Localization
  • Magnetic
  • Particle Filter
  • Smartphone
  • C.2.m computer systems organization: computercommunication networks-miscellaneous

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