An Area Layout-Based MAP Estimation for Indoor Target Tracking

To improve the performance of a received signal strength indication (RSSI)-based maximum likelihood (ML) location estimation method, we have so far proposed an area layout-based maximum a posterirori (MAP) location estimation method for a stationary target. For the MAP location estimation, we have derived the priori probability density function of a target location, and shown the improvement of the estimation accuracy by computer simulations, experiments and theoretical analyses. In this paper, we introduce the area layout-based MAP estimation technique to location tracking with an infinite impulse response (IIR) filter and a particle filter for a moving target. The results of experiments demonstrate that the area layout-based MAP estimation technique can improve the location estimation performance for not only a stationary target but also a moving target. Furthermore, our experiments show that the MAP location tracking with the IIR filter outperforms that with the particle filter in terms of the estimation accuracy and the computational complexity.