Wi-Fi-based indoor position sensing solutions have the advantages of easy integration in mobile phones and low cost by using existing Wi-Fi access points. The mainstream methods are commonly based on the received signal strength indicator (RSSI), which suffers from multipath interference in complicated indoor environments. Through the in-depth analysis of the multipath interference, an RSSI-assisted time difference of arrival (TDoA) method is proposed for Wi-Fi-based indoor position sensing in this work. The key idea is to compensate for the multipath interference in the received signals based on the coarse estimation using RSSI and TDoA calculation. A prototype system has been implemented to validate the proposed method. Experimental results have demonstrated the effectiveness of the proposed method, especially for handling the multipath interference with small propagation delay difference. Experimental results show that the indoor position sensing system can achieve a 90th percentile error of 0.3 m. The proposed method can also achieve moderate computational complexity and moderate real-time performance compared to other methods.

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