Raja, Khalil Jibran;
(2025)
WiFi RTT-based pedestrian navigation and positioning in indoor environments.
Doctoral thesis (Ph.D), UCL (University College London).
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Abstract
Global Navigation Satellite Systems (GNSS) are the primary tool for navigation and positioning in mobile devices. However, GNSS is unreliable or unusable in many environments, such as large indoor buildings, tunnels, and caves—referred to as GNSS-degraded or GNSS-denied environments. This research focuses on positioning techniques for indoor environments using the WiFi Fine Time Measurement (FTM) also known as WiFi Round Trip Timing (RTT) protocol. This protocol, enabled in 802.11mc-compatible routers and devices, allows for determining the Time of Flight (ToF) of a signal. The research described in this thesis explores the characteristics of WiFi RTT signals and their use as a positioning solution when combined with techniques such as least squares positioning, filtering, and Simultaneous Localization and Mapping (SLAM). A common assumption in indoor positioning solutions is the prior knowledge of landmark locations; SLAM techniques were investigated to remove this assumption. The filtering methods explored included particle filters, genetic filters, and grid filters. The exploration of SLAM focused on FastSLAM 2.0-based methods, which were extended into posterity SLAM, a form of cooperative SLAM. These methods were further enhanced with RSSI-based outlier detection. This outlier detection method allows the positioning algorithms to account for unreliable signals by identifying inconsistencies between the RSSI of a signal and the RTT measured range of that signal. The filtering methods achieved sub-2-meter accuracy 97% of the time when the mobile device was stationary. When the device was in motion, it was tracked within 2 meters 81% of the time. For the SLAM algorithm, landmarks were positioned to sub-2- meter accuracy 61% of the time, which improved to 78% when posterity SLAM was incorporated. In summary, this research advances the understanding and application of WiFi RTT for indoor positioning.
| Type: | Thesis (Doctoral) |
|---|---|
| Qualification: | Ph.D |
| Title: | WiFi RTT-based pedestrian navigation and positioning in indoor environments |
| Open access status: | An open access version is available from UCL Discovery |
| Language: | English |
| Additional information: | Copyright © The Author 2025. Original content in this thesis is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) Licence (https://creativecommons.org/licenses/by-nc/4.0/). Any third-party copyright material present remains the property of its respective owner(s) and is licensed under its existing terms. Access may initially be restricted at the author’s request. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Civil, Environ and Geomatic Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10211866 |
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