Predicting Signal Reception Information from GNSS Satellites in Indoor Environments without Site Survey: Towards Opportunistic Indoor Positioning Based on GNSS Fingerprinting

Abstract

While traditional GPS localization is impractical in certain indoor environments, GPS satellites offer a valuable source of indoor contextual information, particularly around window-side areas where signals are more accessible. This study introduces a new method that predicts GPS signal reception information in a target indoor environment without the need for actual data collection in the target environment. By predicting the strengths of GPS signals that are expected to be measured at various indoor positions, we can construct a GPS signal reception map of a target environment, which functions similarly to a Wi-Fi fingerprinting map surrounding window-side areas, offering a new dimension in indoor positioning systems. For instance, it aids in the correction of accumulated errors in pedestrian dead reckoning (PDR) systems. Our proposed method leverages easily accessible inputs, including satellite location data, indoor floorplan image of the target floor, and 3D mapping of the surrounding buildings, to predict signal reception at each position in the target environment. We developed a specialized neural network, named multi-scale branch fusion network (MSBF-Net), designed to process and integrate data of varying scales, such as the floorplan image of the target environment and 3D map of the surrounding area obtained from Google Earth, with a specific focus on understanding the line-of-sight (LOS) and multi-path effects caused by internal obstacles and surrounding buildings. This advanced capability enables the network to effectively interpret complex signal interactions within urban environments, enhancing its predictive accuracy for GPS signal reception. The effectiveness of our method was rigorously evaluated using real-world environments. In addition, we employed our method to implement opportunistic GPS fingerprint-based indoor positioning, where position estimates are provided when a strong signal is observed from at least one satellite. Surprisingly, the positioning method achieved a positioning error of only 2.8 meters when a smartphone is close to window-side areas even though the method does not rely on labeled training data collected in a target environment and signal infrastructures installed in the target environment.