Optimal Uncalibrated RSS Indoor Positioning and Optimal Reference Node Placement Using Cramér-Rao Lower Bound

Xavier Tolza (1) , Pascal Acco (1) , Jean-Yves Fourniols (1) , Georges Soto-Romero (1, 2) , Christophe Escriba (1) , Manuel Bracq (3)

1 LAAS-S4M - Équipe Instrumentation embarquée et systèmes de surveillance intelligents
2 C3S - Laboratoire Culture, sport, santé, société - UFC (UR 4660)
3 FFLY4U

In this paper we propose a global positioning algorithm of multiple assets based on Received Signal Strength (RSS) measurements that takes into account the gain uncertainties of each hardware transceiver involved in the system, as well as the uncertainties on the Log-Distance Path Loss (LDPL) parameters. Such a statistical model is established and its Maximum Likelihood Estimator (MLE) is given with the analytic expression of the Cramér-Rao Lower Bound (CRLB). Typical values of those uncertainties are given considering whether calibration is done in production, in situ, or if hardware is used uncalibrated, in order to know what is the expected accuracy in function of the calibration setup. Results are tested by numerical simulations and confronted to real measurements in different room configurations, showing that the theoretical bound can be reached by the proposed MLE algorithm.

Domaines: Traitement du signal et de l'image [eess.SP]; Autres [stat.ML]

Xavier Tolza, Pascal Acco, Jean-Yves Fourniols, Georges Soto-Romero, Christophe Escriba, et al.. Optimal Uncalibrated RSS Indoor Positioning and Optimal Reference Node Placement Using Cramér-Rao Lower Bound. Journal of Sensors, 2019, 2019, pp.Article ID 5494901. ⟨10.1155/2019/5494901⟩. ⟨hal-02283386⟩