Map-aided indoor mobile positioning system using particle filter

A framework for positioning and tracking problems in indoor environments using particle filters has been developed and applied to a WLAN location determination technique. The use of particle filtering represents an interesting way to handle the variations of the signal strength measurements. It can also aggregate in a simple way different information like signal strength and the map of a building. This type of information is very useful to obtain correct trajectories without wall-crossings. Constraining this filter on a Voronoi diagram of the building decreases the complexity of the method and improves its stability as the particles cannot be trapped in a room. In this paper, particle filtering and its constraint on a Voronoi diagram are presented, with their performances in indoor environments by combining WLAN signal strength and fingerprinting.