Position-Constrained Stochastic Inference for Cooperative Indoor Localization

Abstract

We address the problem of distributed cooperative localization in wireless networks, i.e. nodes without prior position knowledge (agents) wish to determine their own positions. In non-cooperative approaches, positioning is only based on information from reference nodes with known positions (anchors).However, in cooperative positioning, information from other agents is considered as well. Cooperative positioning requires encoding of the uncertainty of agents' positions. To cope with that demand, we employ stochastic inference for localization which inherently considers the position uncertainty of agents. However, stochastic inference comes at the expense of high costs in terms of computation and information exchange. To relax the requirements of inference algorithms, we propose the framework of position-constrained stochastic inference, in which we first confine the positions of nodes to feasible sets. We use convex polygons to impose constraints on the possible positions of agents. By doing so, we enable inference algorithms to concentrate on important regions of the sample space rather than the entire sample space. We show through simulations that increased localization accuracy, reduced computational complexity, and quicker convergence can be achieved when compared to a state-of-theart non-constrained inference algorithm.

Collaborative Indoor Positioning Systems: A Systematic Review

“…Regarding stand-alone positioning in the non-collaborative phase, the most used methods were PDR [ 43 , 63 , 92 , 97 , 98 , 100 , 101 , 102 , 106 , 107 , 110 , 117 , 118 , 120 , 123 , 127 , 128 , 129 , 131 , 141 , 144 , 145 , 146 , 147 ], Ranging [ 42 , 46 , 47 , 81 , 93 , 109 , 111 , 113 , 130 , 132 , 144 , 150 ], RSS-based [ 40 , 41 , 43 , 48 , 77 , 84 , 89 , 103 , 123 , 129 ], k -NN [ 63 , 79 , 108 , 114 , 118 , 119 ,…”

“…Another remarkable finding in the non-collaborative part is the lack of details of some key aspects of the CIPSs. Around a third of the reviewed papers did not provide enough details about the method used to provide the position estimate, only being cataloged as fingerprint-based [ 42 , 83 , 98 , 100 , 102 , 143 , 147 , 149 ], ranging [ 42 , 46 , 47 , 81 , 93 , 109 , 111 , 113 , 130 , 132 , 144 , 150 ] and RSS-based [ 40 , 41 , 43 , 48 , 77 , 84 , 89 , 103 , 123 , 129 ] methods. In those works, the authors considered the user’s positioning method in the non-collaborative part irrelevant, i.e., the main focus of the CIPS was to improve the user’s position in the collaborative part, regardless of the approach used in the non-collaborative part.…”

“…Belief propagation is mainly used because of its potential to achieve high accuracy in collaborative position estimation, but at the expense of high computational complexity. Correspondingly, the Collaborative Indoor Positioning Systems (CIPSs) that use Belief propagation tend to balance the trade-offs between the computational complexity and the positioning accuracy [ 46 , 48 , 90 , 99 , 100 , 109 , 132 , 137 ]. Trilateration and Geometric algorithms have been mainly used in those CIPSs that attempt to improve the energy consumption [ 42 , 43 ].…”

“…The study selection process, with step-wise results, is schematically depicted using the PRISMA flow diagram in Figure 2 . As a final set of eligible studies, 84 articles [ 40 , 41 , 42 , 43 , 44 , 45 , 46 , 47 , 48 , 49 , 50 , 63 , 77 , 79 , 80 , 81 , 83 , 84 , 85 , 86 , 87 , 88 , 89 , 90 , 91 , 92 , 93 , 94 , 95 , 96 , 97 , 98 , 99 , 100 , 101 , 102 , 103 , 104 , 105 , 106 , 107 , 108 , 109 , 110 , 111 , 112 , 113 , 114 , 115 , 116 , 117 , 118 ,…”

5G Downlink Multi-Beam Signal Design for LOS Positioning

“…Accurate position information is essential in realizing a variety of new use cases of the fifth generation of mobile communication networks (5G), like smart factories [1] and automated/assisted driving [2]. Many positioning techniques have been developed considering the presence of multiple reference stations (anchors) [3], [4]. However, multi-anchor positioning might be impossible at millimeter-wave (mm-Wave) frequencies with two or more LoS links to different base stations will be challenging.…”