Methods and apparatuses for indoor positioning using particle filter based on intensity of radio signal
View Patent ↗Provided are an indoor positioning method of a positioning apparatus using a particle filter based on an RSSI includes initializing a particle in a base map corresponding to a target space for positioning, measuring a first distance value between a terminal and a beacon and a second distance value between the particle and the beacon, calculating a weight of the particle by comparing the first distance value and the second distance value, updating a previous weight of the particle based on the weight and resampling the particle, deriving location estimation coordinates of the terminal if the resampling has been performed as many as a given number of times, and moving the particle to a given point in the target space and repeatedly measuring the first distance value and the second distance value again.
1. An indoor positioning method of an indoor positioning apparatus using a particle filter based on a received signal strength indicator (RSSI), the method comprising:
initializing by generating a base map corresponding to an indoor space and distributing a plurality of particles on the base map;
preprocessing RSSI information of a tag received through an access point positioned in the indoor space;
resampling each of the particles by comparing a first distance value between the tag and the access point and a second distance value between each of the particles and the access point,
wherein the first distance value is calculated using the preprocessed RSSI information, and the second distance value is calculated based on a particle filter distributed in the indoor space;
estimating an approximated location of the tag from a location of each of the resampled particles by calculating a weight of each of the particles distributed in the indoor space based on a difference value between the first distance value and the second distance value; and
tracking the estimated approximated location of the tag.
2. The indoor positioning method of claim 1 , wherein preprocessing the RSSI information comprises filtering out noise of the received RSSI information using a Kalman filter.
3. The indoor positioning method of claim 1 , wherein preprocessing the RSSI information comprises estimating an RSSI value by updating an RSSI value, calculated through a Kalman gain based on the received RSSI information, based on an error covariance to be used for next estimation and an update of a current state.
4. The indoor positioning method of claim 1 , wherein estimating the location of the tag comprises setting a size of the indoor space, and setting coordinates of an access point in the indoor space.
5. The indoor positioning method of claim 1 , wherein estimating the location of the tag comprises normalizing each of the first distance value and the second distance value as a size of the indoor space.
6. The indoor positioning method of claim 1 , wherein estimating the location of the tag comprises resampling each of the particles using a weight-based unbiased sampling scheme for selecting a particle having a low weight with a low probability although a probability that a particle having a higher weight is to be duplicated using each of the calculated weights of the particles is increased.
7. The indoor positioning method of claim 1 , wherein estimating the location of the tag comprises resampling each of the particles using a stochastic universal sampling (SUS) scheme based on a random number between a selection interval and a preset section so that a probability that a particle having a higher weight is to be duplicated using each of the calculated weights of the particles is increased.
8. The indoor positioning method of claim 1 , wherein estimating the location of the tag comprises estimating a center of each of the resampled particles as the location of the tag.
9. An indoor positioning apparatus using a particle filter based on a received signal strength indicator (RSSI), the apparatus comprising:
a communication unit for transmitting and receiving signals;
a memory storing data; and
a controller configured to control the communication unit and the memory,
wherein the controller is configured to:
initialize by generating a base map corresponding to an indoor space and distributing particles on the base map;
preprocess RSSI information of a tag received through an access point positioned in the indoor space;
resample each of the particles by comparing a first distance value between the tag and the access point and a second distance value between each of the particles and the access point, wherein the first distance value is calculated using the preprocessed RSSI information, and the second distance value is calculated based on a particle filter distributed in the indoor space;
estimate an approximated location of the tag from a location of each of the resampled particles by calculating a weight of each of the particles distributed in the indoor space based on a difference value between the first distance value and the second distance value; and
track the estimated approximated location of the tag.