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An adaptive weighting based on modified DOP for collaborative indoor positioning

Jing, Hao; Pinchin, James; Hill, Chris; Moore, Terry

An adaptive weighting based on modified DOP for collaborative indoor positioning Thumbnail


Hao Jing

Chris Hill

Terry Moore


Indoor localisation has always been a challenging problem due to poor Global Navigation Satellite System (GNSS) availability in such environments. While inertial measurement sensors have become popular solutions for indoor positioning, they suffer large drifts after initialisation. Collaborative positioning enhances positioning robustness by integrating multiple localisation information, especially relative ranging measurements between local users and transmitters. However, not all ranging measurements are useful throughout the whole positioning process and integrating too much data will increase the computation cost. To enable a more reliable positioning system, an adaptive collaborative positioning algorithm is proposed which selects units for the collaborative network and integrates ranging measurement to constrain inertial measurement errors. The algorithm selects the network adaptively from three perspectives: the network geometry, the network size and the accuracy level of the ranging measurements between the units. The collaborative relative constraint is then defined according to the selected network geometry and anticipated measurement quality. In the case of trials with real data, the positioning accuracy is improved by 60% by adjusting the range constraint adaptively according to the selected network situation, while also improving the system robustness.

Journal Article Type Article
Acceptance Date Aug 17, 2015
Online Publication Date Sep 23, 2015
Publication Date Mar 1, 2016
Deposit Date May 5, 2016
Publicly Available Date May 5, 2016
Journal Journal of Navigation
Print ISSN 0373-4633
Electronic ISSN 0373-4633
Publisher Cambridge University Press
Peer Reviewed Peer Reviewed
Volume 69
Issue 2
Keywords Indoor positioning; adaptive weighting; modified DOP
Public URL
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