Raja, Khalil Jibran;
Groves, Paul D;
(2025)
WiFi-RTT indoor positioning using Particle, Genetic and Grid filters with RSSI-based outlier detection.
The Journal of Navigation
10.1017/S0373463325101379.
(In press).
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Abstract
The paper explores the accuracy of WiFi-Round Trip Timing (RTT) positioning in indoor environments. Filtering techniques are applied to WiFi-RTT positioning in indoor environments, enhanced by Residual Signal Strength Indicator (RSSI)-based outlier detection. A Genetic and Grid filter are compared with a Particle filter and single-epoch least-squares across a range of test scenarios. In static scenarios, 67% of trials had sub-metre accuracy and 90.5% had a root mean square error (RMSE) below 2 m. In Non-Line-of-Sight (NLOS) conditions, 38% of trials had sub-metre accuracy, whereas for environments with full Line-of-Sight (LOS) conditions, 95.2% of trials had sub-metre accuracy. In scenarios with motion, 22.2% of trials had sub-metre accuracy. RSSI-based outlier detection in NLOS conditions, provided an average improvement of 41.3% over no outlier detection across all algorithms in the static and 14% in the dynamic tests. The Genetic filter achieved a mean improvement of 49.2% in the static and 47% in the dynamic tests compared with least squares.
| Type: | Article |
|---|---|
| Title: | WiFi-RTT indoor positioning using Particle, Genetic and Grid filters with RSSI-based outlier detection |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1017/S0373463325101379 |
| Publisher version: | https://doi.org/10.1017/S0373463325101379 |
| Language: | English |
| Additional information: | Copyright © The Author(s), 2025. Published by Cambridge University Press on behalf of The Royal Institute of Navigation. This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution and reproduction, provided the original article is properly cited. |
| Keywords: | Genetic filter; grid filter; Indoor positioning; particle filter; WiFi RTT |
| 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/10218694 |
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