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Smoothing RSSI
Fazli Subhan1 , Salman Ahmed2 and Khalid Ashraf3
1
I. I NTRODUCTION
Due to the rapid advancements in wireless communication
and mobile technologies, Location based services is considered
to be an important aspect of mobile technology. In todays
modern and technological world, position estimation plays an
important role in all aspects of peoples daily lives.In position
estimation, accuracy is one of the key performance indicators
for indoor position estimation. In real-time object tracking
applications, continuous reception of RSSI measurements is
mandatory so that exact position of the target node at each time
instant can be identified [1], [2]. In Radio Frequency (RF) based
wireless communication, position estimation is performed using
RSSI, which is the parameter used to estimate distance between
mobile and anchor nodes or APs [3], [4]. Currently most of the
existing wireless technologies use RF waves for communication
such as Wireless Local Area Network (WLAN), Bluetooth and
Zigbee [5], [6].
The use of RF sensing technology for indoor position estimation techniques introduces some challenges such as the
effect of signal attenuation and multi-path effects, which occur
due to the reflections of signals in indoor environments [7].
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(1)
where sign() extracts positive or negative sign of the difference between predicted Xn and the current received RSSI
measurement xn . The output of sign() will be 1 if the
input is positive and -1 if the input is negative and zero if
the input is zero. The modifications in the proposed extended
Gradient RSSI predictor and filter is performed by changing the
window size. The original Gradient filter maintains a window
size of n RSSI measurements and the proposed design only
maintains a window size of k RSSI measurements. In order to
analyze the performance of proposed extended Gradient RSSI
predictor and filter, it is compared with the original Gradient
filter and Kalman filter. The following sub-section presets an
analysis of the proposed filter using simulated and real-time
RSSI measurements.
t = [t1 , t2 , t3 , ...., tn ].
(2)
(3)
It should be noted that the values of tj are not the same for
each time instant as the measurements may arrive or may not
arrive due to communication holes. Let tn represent the time
interval in which the most recent successful reception of the
signal occurred. If the mobile client is having a non-uniform
speed, then the rate of change of RSSI measurements will also
be varying. At any time instant ti , the instantaneous rate of
change of RSSI values can be written as follows:
Ri =
xi xi1
xi
=
,
ti
ti ti1
(4)
n1
1 X
Ri ,
k
(5)
i=nk
n1
1 X
Ri tn ) + xn1 ,
k
(6)
i=nk
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30
40
50
60
70
80
90
Simulated RSS
Gradient Filter
Ideal RSS
Extended Gradient Filter
20
RSS (dBm)
5
6
Time (sec)
10
10
20
30
RSS (dBm)
Fig. 2. Plot of RSSI measurements which are filtered using the proposed and
actual Gradient filter (Case 2).
Simulated RSS
Gradient Filter
Ideal RSS
Extended Gradient Filter
40
50
60
70
80
90
5
6
Time (sec)
10
Fig. 1. Plot of RSSI measurements which are filtered using the proposed and
actual Gradient filter (Case 1).
ISBN 978-89-968650-2-5
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10
50
20
RSS (dBm)
60
40
50
65
70
60
75
70
80
80
85
90
5
6
Time (sec)
Simulated RSS
Gradient Filter
Ideal RSS
Extended Gradient Filter
55
Simulated RSS
Gradient Filter
Ideal RSS
Extended Gradient Filter
30
RSS (dBm)
90
10
5
6
Time (sec)
10
Fig. 3. Plot of RSSI measurements which are filtered using the proposed and
actual Gradient filter (Case 3).
Fig. 4. Plot of RSSI measurements which are filtered using the proposed and
actual Gradient filter (Case 4).
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R EFERENCES
[1] J. Hightower and G. Borriella, Location systems for ubiquitous computing, IEEE Computer, vol. 34, no. 8, pp. 5766, 2001.
[2] D. Zhang, F. Xia, Z. Yang, L. Yao, and W. Zhao, Localization Technologies for Indoor Human Tracking, in 5th International Conference
Future Information Technology (FutureTech), pp. 16, 2010.
[3] L. Dong and W. Jiancheng, Research of indoor local positioning based
on bluetooth technology, in Proceedings of the 5th International Conference on Wireless communications, networking and mobile computing,
pp. 52115214, 2009.
[4] R. Rong and M. L. Sichitiu, Indoor localization system using rssi
measurement of wireless sensor network based on zigbee standard, in
IASTED International Conference on Wireless Sensor Networks, Alberta,
Canada, pp. 16, 2006.
[5] H. Liu, H. Darabi, P. Banerjee, and J. Liu, Survey of wireless indoor
positioning techniques and systems, IEEE Transactions on Systems, Man,
and Cybernetics, Part C, vol. 37, pp. 10671080, 2007.
[6] S. Pandey and P. Agrawal, A survey on localization techniques for
wireless networks, Journal of the Chinese Institute of Engineers, vol. 29,
no. 7, pp. 11251148, 2007.
[7] F. Subhan, H. Hasbullah, A. Rozyyev, and S. T. Bakhsh, Indoor positioning in bluetooth networks using fingerprinting and lateration approach,
in Information Science and Applications (ICISA), 2011 International
Conference on, pp. 19, IEEE, 2011.
[8] Bluetooth Special Intrest Group, Fast-facts @ONLINE, 2011.
[9] A. Pramod-Patil, Performance of bluetooth technologies and their applications to location sensing, Masters thesis, Department of Electrical
and Computer Engineering, Michigan State University, USA, 2002.
[10] F. Subhan, H. Hasbullah, and K. Ashraf, Kalman filter-based hybrid
indoor position estimation technique in bluetooth networks, International
Journal of Navigation and Observation, vol. 2013, 2013.
[11] M. Hossain and S. Wee-Seng, A comprehensive study of bluetooth
signal parameters for localization, in IEEE International Symposium on
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[12] C. D. Dimitrova, U. Burgi, G. Martins, and T. Braun, Inquiry-based
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Informatics and Mathematics, pp. 19, 2011.
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