OrLiOn: Optimized Route Planning for the Localization of Indoor Nodes from Outdoor environment

The main focus of this work is on the exploration of static trajectories. A new Optimized Route Planning for the Localization of Indoor Nodes from Outdoor eNvironment (OrLiOn) is introduced. Three building-aware trajectories, specifically Extended-Hilbert, Triangle and Z-trajectory are derived with the help of the introduced algorithm. Further, these trajectories are simulated and analyzed in terms of the localization error and difficulty. The obtained results indicate the superiority of the Extended-Hilbert and Triangle trajectories in terms of localization accuracy, when compared to the Z-trajectory, Circle and Octagon trajectories.